diff --git a/examples/PlanarSLAMExample_selfcontained.cpp b/examples/PlanarSLAMExample_selfcontained.cpp
index 7e17c2a0e..6b1a5b772 100644
--- a/examples/PlanarSLAMExample_selfcontained.cpp
+++ b/examples/PlanarSLAMExample_selfcontained.cpp
@@ -77,7 +77,7 @@ int main(int argc, char** argv) {
 
 	/* add measurements */
 	// general noisemodel for measurements
-	SharedDiagonal meas_model = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2));
+	SharedDiagonal measurementNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2));
 
 	// create the measurement values - indices are (pose id, landmark id)
 	Rot2 bearing11 = Rot2::fromDegrees(45),
@@ -88,9 +88,9 @@ int main(int argc, char** argv) {
 		   range32 = 2.0;
 
 	// create bearing/range factors
-	BearingRangeFactor<Pose2, Point2> meas11(i1, j1, bearing11, range11, meas_model);
-	BearingRangeFactor<Pose2, Point2> meas21(i2, j1, bearing21, range21, meas_model);
-	BearingRangeFactor<Pose2, Point2> meas32(i3, j2, bearing32, range32, meas_model);
+	BearingRangeFactor<Pose2, Point2> meas11(i1, j1, bearing11, range11, measurementNoise);
+	BearingRangeFactor<Pose2, Point2> meas21(i2, j1, bearing21, range21, measurementNoise);
+	BearingRangeFactor<Pose2, Point2> meas32(i3, j2, bearing32, range32, measurementNoise);
 
 	// add the factors
 	graph.add(meas11);
diff --git a/examples/matlab/Pose2SLAMExample.m b/examples/matlab/Pose2SLAMExample.m
index a63c2fd80..1f63ffd60 100644
--- a/examples/matlab/Pose2SLAMExample.m
+++ b/examples/matlab/Pose2SLAMExample.m
@@ -63,7 +63,6 @@ marginals = graph.marginals(result);
 for i=1:result.size()
     pose_i = result.pose(i);
     P{i}=marginals.marginalCovariance(i);
-    fprintf(1,'%.5f %.5f %.5f\n',P{i})
     plotPose2(pose_i,'g',P{i})
 end
 axis equal
diff --git a/examples/matlab/Pose2SLAMExample_advanced.m b/examples/matlab/Pose2SLAMExample_advanced.m
index f2739803e..827cf5661 100644
--- a/examples/matlab/Pose2SLAMExample_advanced.m
+++ b/examples/matlab/Pose2SLAMExample_advanced.m
@@ -38,7 +38,7 @@ graph.addOdometry(2, 3, odometry, odometryNoise);
 
 %% Add measurements
 % general noisemodel for measurements
-meas_model = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]);
+measurementNoise = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]);
 
 % print
 graph.print('full graph');
diff --git a/tests/testMarginals.cpp b/tests/testMarginals.cpp
index 76b1f7c82..9d97f6f69 100644
--- a/tests/testMarginals.cpp
+++ b/tests/testMarginals.cpp
@@ -65,7 +65,7 @@ TEST(Marginals, planarSLAMmarginals) {
 
   /* add measurements */
   // general noisemodel for measurements
-  SharedDiagonal meas_model = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2));
+  SharedDiagonal measurementNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2));
 
   // create the measurement values - indices are (pose id, landmark id)
   Rot2 bearing11 = Rot2::fromDegrees(45),
@@ -76,9 +76,9 @@ TEST(Marginals, planarSLAMmarginals) {
        range32 = 2.0;
 
   // create bearing/range factors
-  graph.add(BearingRangeFactor<Pose2, Point2>(x1, l1, bearing11, range11, meas_model));
-  graph.add(BearingRangeFactor<Pose2, Point2>(x2, l1, bearing21, range21, meas_model));
-  graph.add(BearingRangeFactor<Pose2, Point2>(x3, l2, bearing32, range32, meas_model));
+  graph.add(BearingRangeFactor<Pose2, Point2>(x1, l1, bearing11, range11, measurementNoise));
+  graph.add(BearingRangeFactor<Pose2, Point2>(x2, l1, bearing21, range21, measurementNoise));
+  graph.add(BearingRangeFactor<Pose2, Point2>(x3, l2, bearing32, range32, measurementNoise));
 
   // linearization point for marginals
   Values soln;