From 8bbcc2f3d1d226999d24e643bf685be11a03aec7 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Fri, 28 Nov 2014 02:26:14 +0100
Subject: [PATCH] Cleaned up some small issues from reviewing PR

---
 gtsam/geometry/Cal3Bundler.h         | 1 +
 gtsam/geometry/PinholeCamera.h       | 1 -
 gtsam/geometry/tests/testCal3DS2.cpp | 1 -
 3 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h
index 886a8fb52..837888855 100644
--- a/gtsam/geometry/Cal3Bundler.h
+++ b/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
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index 134b21383..96d227912 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/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:
 
diff --git a/gtsam/geometry/tests/testCal3DS2.cpp b/gtsam/geometry/tests/testCal3DS2.cpp
index d726f14f4..c5a6be2d6 100644
--- a/gtsam/geometry/tests/testCal3DS2.cpp
+++ b/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)