diff --git a/gtsam/geometry/OrientedPlane3.cpp b/gtsam/geometry/OrientedPlane3.cpp
index f40ad1c49..51d7a903b 100644
--- a/gtsam/geometry/OrientedPlane3.cpp
+++ b/gtsam/geometry/OrientedPlane3.cpp
@@ -13,6 +13,7 @@
  * @file OrientedPlane3.cpp
  * @date Dec 19, 2013
  * @author Alex Trevor
+ * @author Zhaoyang Lv
  * @brief  A plane, represented by a normal direction and perpendicular distance
  */
 
@@ -25,7 +26,6 @@ using namespace std;
 namespace gtsam {
 
 /* ************************************************************************* */
-/// The print fuction
 void OrientedPlane3::print(const string& s) const {
   Vector4 coeffs = planeCoefficients();
   cout << s << " : " << coeffs << endl;
@@ -39,22 +39,19 @@ OrientedPlane3 OrientedPlane3::Transform(const OrientedPlane3& plane,
   Matrix22 n_hp;
   Unit3 n_rotated = xr.rotation().unrotate(plane.n_, n_hr, n_hp);
 
-  Vector3 n_unit = plane.n_.unitVector();
   Vector3 unit_vec = n_rotated.unitVector();
-  double pred_d = n_unit.dot(xr.translation().vector()) + plane.d_;
+  double pred_d = plane.n_.unitVector().dot(xr.translation().vector()) + plane.d_;
 
   if (Hr) {
     *Hr = zeros(3, 6);
-    (*Hr).block<2, 3>(0, 0) = n_hr;
-    (*Hr).block<1, 3>(2, 3) = unit_vec;
+    Hr->block<2, 3>(0, 0) = n_hr;
+    Hr->block<1, 3>(2, 3) = unit_vec;
   }
   if (Hp) {
-    Vector3 xrp = xr.translation().vector();
-    Matrix32 n_basis = plane.n_.basis();
-    Vector2 hpp = n_basis.transpose() * xrp;
+    Vector2 hpp = plane.n_.basis().transpose() * xr.translation().vector();
     *Hp = zeros(3, 3);
-    (*Hp).block<2, 2>(0, 0) = n_hp;
-    (*Hp).block<1, 2>(2, 0) = hpp;
+    Hp->block<2, 2>(0, 0) = n_hp;
+    Hp->block<1, 2>(2, 0) = hpp;
     (*Hp)(2, 2) = 1;
   }
 
@@ -65,14 +62,11 @@ OrientedPlane3 OrientedPlane3::Transform(const OrientedPlane3& plane,
 Vector3 OrientedPlane3::error(const OrientedPlane3& plane) const {
   Vector2 n_error = -n_.localCoordinates(plane.n_);
   double d_error = d_ - plane.d_;
-  Vector3 e;
-  e << n_error(0), n_error(1), d_error;
-  return (e);
+  return Vector3(n_error(0), n_error(1), d_error);
 }
 
 /* ************************************************************************* */
 OrientedPlane3 OrientedPlane3::retract(const Vector3& v) const {
-  // Retract the Unit3
   Vector2 n_v(v(0), v(1));
   Unit3 n_retracted = n_.retract(n_v);
   double d_retracted = d_ + v(2);
@@ -84,8 +78,7 @@ Vector3 OrientedPlane3::localCoordinates(const OrientedPlane3& y) const {
   Vector2 n_local = n_.localCoordinates(y.n_);
   double d_local = d_ - y.d_;
   Vector3 e;
-  e << n_local(0), n_local(1), -d_local;
-  return e;
+  return Vector3(n_local(0), n_local(1), -d_local);
 }
 
 }
diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h
index a6fee420b..55e7188af 100644
--- a/gtsam/geometry/OrientedPlane3.h
+++ b/gtsam/geometry/OrientedPlane3.h
@@ -14,6 +14,7 @@
  * @date Dec 19, 2013
  * @author Alex Trevor
  * @author Frank Dellaert
+ * @author Zhaoyang Lv
  * @brief An infinite plane, represented by a normal direction and perpendicular distance
  */
 
@@ -37,6 +38,7 @@ public:
   enum {
     dimension = 3
   };
+
   /// @name Constructors
   /// @{
 
@@ -74,10 +76,12 @@ public:
     return (n_.equals(s.n_, tol) && (fabs(d_ - s.d_) < tol));
   }
 
+  /// @}
+
   /** Transforms a plane to the specified pose
    * @param The raw plane
    * @param A transformation in current coordiante
-   * @param Hr optional jacobian wrpt incremental Pose
+   * @param Hr optional jacobian wrpt the pose transformation
    * @param Hp optional Jacobian wrpt the destination plane
    */
   static OrientedPlane3 Transform(const OrientedPlane3& plane,
diff --git a/gtsam/geometry/tests/testOrientedPlane3.cpp b/gtsam/geometry/tests/testOrientedPlane3.cpp
index 1fd9d9d6b..127bc3d0c 100644
--- a/gtsam/geometry/tests/testOrientedPlane3.cpp
+++ b/gtsam/geometry/tests/testOrientedPlane3.cpp
@@ -13,6 +13,7 @@
  * @file testOrientedPlane3.cpp
  * @date Dec 19, 2012
  * @author Alex Trevor
+ * @author Zhaoyang Lv
  * @brief Tests the OrientedPlane3 class
  */