diff --git a/examples/SFMExample_SmartFactor.cpp b/examples/SFMExample_SmartFactor.cpp
index 45a4662d6..fce046a59 100644
--- a/examples/SFMExample_SmartFactor.cpp
+++ b/examples/SFMExample_SmartFactor.cpp
@@ -32,7 +32,7 @@ using namespace std;
 using namespace gtsam;
 
 // Make the typename short so it looks much cleaner
-typedef gtsam::SmartProjectionPoseFactor<gtsam::Pose3, gtsam::Cal3_S2> SmartFactor;
+typedef SmartProjectionPoseFactor<Cal3_S2> SmartFactor;
 
 /* ************************************************************************* */
 int main(int argc, char* argv[]) {
@@ -111,7 +111,7 @@ int main(int argc, char* argv[]) {
     // The graph stores Factor shared_ptrs, so we cast back to a SmartFactor first
     SmartFactor::shared_ptr smart = boost::dynamic_pointer_cast<SmartFactor>(graph[j]);
     if (smart) {
-      // The output of point() is in boost::optional<gtsam::Point3>, as sometimes
+      // The output of point() is in boost::optional<Point3>, as sometimes
       // the triangulation operation inside smart factor will encounter degeneracy.
       boost::optional<Point3> point = smart->point(result);
       if (point) // ignore if boost::optional return NULL
diff --git a/examples/SFMExample_SmartFactorPCG.cpp b/examples/SFMExample_SmartFactorPCG.cpp
index 472cd9447..49482292f 100644
--- a/examples/SFMExample_SmartFactorPCG.cpp
+++ b/examples/SFMExample_SmartFactorPCG.cpp
@@ -28,7 +28,7 @@ using namespace std;
 using namespace gtsam;
 
 // Make the typename short so it looks much cleaner
-typedef gtsam::SmartProjectionPoseFactor<gtsam::Pose3, gtsam::Cal3_S2> SmartFactor;
+typedef SmartProjectionPoseFactor<Cal3_S2> SmartFactor;
 
 /* ************************************************************************* */
 int main(int argc, char* argv[]) {
diff --git a/gtsam_unstable/examples/SmartProjectionFactorExample.cpp b/gtsam_unstable/examples/SmartProjectionFactorExample.cpp
index c8a4e7123..dc921a7da 100644
--- a/gtsam_unstable/examples/SmartProjectionFactorExample.cpp
+++ b/gtsam_unstable/examples/SmartProjectionFactorExample.cpp
@@ -46,7 +46,7 @@ using namespace gtsam;
 
 int main(int argc, char** argv){
 
-  typedef SmartProjectionPoseFactor<Pose3, Cal3_S2> SmartFactor;
+  typedef SmartProjectionPoseFactor<Cal3_S2> SmartFactor;
 
   Values initial_estimate;
   NonlinearFactorGraph graph;
diff --git a/gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp b/gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp
index 770c5f18c..cfed9ae0c 100644
--- a/gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp
+++ b/gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp
@@ -46,7 +46,7 @@ using namespace gtsam;
 
 int main(int argc, char** argv){
 
-  typedef SmartStereoProjectionPoseFactor<Pose3, Point3, Cal3_S2Stereo> SmartFactor;
+  typedef SmartStereoProjectionPoseFactor<Cal3_S2Stereo> SmartFactor;
 
   bool output_poses = true;
   string poseOutput("../../../examples/data/optimized_poses.txt");