diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp
index 2d766dc6a..10d582287 100644
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@@ -40,20 +40,6 @@ using symbol_shorthand::B;
 /* ************************************************************************* */
 namespace {
 
-Vector callEvaluateError(const ImuFactor& factor,
-    const Pose3& pose_i, const LieVector& vel_i, const Pose3& pose_j, const LieVector& vel_j,
-    const imuBias::ConstantBias& bias)
-{
-  return factor.evaluateError(pose_i, vel_i, pose_j, vel_j, bias);
-}
-
-Rot3 evaluateRotationError(const ImuFactor& factor,
-    const Pose3& pose_i, const LieVector& vel_i, const Pose3& pose_j, const LieVector& vel_j,
-    const imuBias::ConstantBias& bias)
-{
-  return Rot3::Expmap(factor.evaluateError(pose_i, vel_i, pose_j, vel_j, bias).tail(3) ) ;
-}
-
 ImuFactor::PreintegratedMeasurements evaluatePreintegratedMeasurements(
     const imuBias::ConstantBias& bias,
     const list<Vector3>& measuredAccs,
@@ -108,17 +94,6 @@ Rot3 evaluatePreintegratedMeasurementsRotation(
       measuredAccs, measuredOmegas, deltaTs).deltaRij;
 }
 
-Rot3 evaluateRotation(const Vector3 measuredOmega, const Vector3 biasOmega, const double deltaT)
-{
-  return Rot3::Expmap((measuredOmega - biasOmega) * deltaT);
-}
-
-
-Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta)
-{
-  return Rot3::Logmap( Rot3::Expmap(thetahat).compose( Rot3::Expmap(deltatheta) ) );
-}
-
 }
 
 /* ************************************************************************* */
diff --git a/gtsam_unstable/slam/tests/testTransformBtwRobotsUnaryFactor.cpp b/gtsam_unstable/slam/tests/testTransformBtwRobotsUnaryFactor.cpp
index c8357aba4..a063244a3 100644
--- a/gtsam_unstable/slam/tests/testTransformBtwRobotsUnaryFactor.cpp
+++ b/gtsam_unstable/slam/tests/testTransformBtwRobotsUnaryFactor.cpp
@@ -125,9 +125,6 @@ TEST( TransformBtwRobotsUnaryFactor, unwhitenedError2)
 
   SharedGaussian model(noiseModel::Diagonal::Sigmas((Vector(3) << 0.5, 0.5, 0.05)));
 
-  double prior_outlier = 0.01;
-  double prior_inlier = 0.99;
-
   gtsam::Values valA, valB;
   valA.insert(keyA, orgA_T_currA);
   valB.insert(keyB, orgB_T_currB);