Cleaned up some small issues from reviewing PR

gtsam/geometry/Cal3Bundler.h

@@ -106,6 +106,7 @@ public:
 
 
   /**
+   * @brief: convert intrinsic coordinates xy to image coordinates uv
    * Version of uncalibrate with derivatives
    * @param p point in intrinsic coordinates
    * @param Dcal optional 2*3 Jacobian wrpt CalBundler parameters

gtsam/geometry/PinholeCamera.h

@@ -44,7 +44,6 @@ private:
 
   // Get dimension of calibration type at compile time
   static const int DimK = traits::dimension<Calibration>::value;
-  typedef Eigen::Matrix<double,2,DimK> JacobianK;
 
 public:
 

gtsam/geometry/tests/testCal3DS2.cpp

@@ -20,7 +20,6 @@
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/geometry/Cal3DS2.h>
 
-using namespace std;
 using namespace gtsam;
 
 GTSAM_CONCEPT_TESTABLE_INST(Cal3DS2)