diff --git a/timing/timeCalibratedCamera.cpp b/timing/timeCalibratedCamera.cpp
index 2d0576aea..088ec7b1f 100644
--- a/timing/timeCalibratedCamera.cpp
+++ b/timing/timeCalibratedCamera.cpp
@@ -1,6 +1,6 @@
 /* ----------------------------------------------------------------------------
 
- * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
  * Atlanta, Georgia 30332-0415
  * All Rights Reserved
  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@@ -27,12 +27,7 @@ int main()
 {
   int n = 100000;
 
-  const Pose3 pose1(Matrix3((Matrix(3,3) <<
-      1., 0., 0.,
-      0.,-1., 0.,
-      0., 0.,-1.
-  ).finished()),
-  Point3(0,0,0.5));
+  const Pose3 pose1(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5));
 
   const CalibratedCamera camera(pose1);
   const Point3 point1(-0.08,-0.08, 0.0);
diff --git a/timing/timePinholeCamera.cpp b/timing/timePinholeCamera.cpp
index 6f7e5e972..458f88db1 100644
--- a/timing/timePinholeCamera.cpp
+++ b/timing/timePinholeCamera.cpp
@@ -1,6 +1,6 @@
 /* ----------------------------------------------------------------------------
 
- * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
  * Atlanta, Georgia 30332-0415
  * All Rights Reserved
  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@@ -28,12 +28,7 @@ int main()
 {
   int n = 1e6;
 
-  const Pose3 pose1((Matrix)(Matrix(3,3) <<
-      1., 0., 0.,
-      0.,-1., 0.,
-      0., 0.,-1.
-  ).finished(),
-  Point3(0,0,0.5));
+  const Pose3 pose1(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5));
 
   static Cal3Bundler K(500, 1e-3, 2.0*1e-3);
   const PinholeCamera<Cal3Bundler> camera(pose1,K);
diff --git a/timing/timeStereoCamera.cpp b/timing/timeStereoCamera.cpp
index ab8e2fff9..c609f8885 100644
--- a/timing/timeStereoCamera.cpp
+++ b/timing/timeStereoCamera.cpp
@@ -1,6 +1,6 @@
 /* ----------------------------------------------------------------------------
 
- * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
  * Atlanta, Georgia 30332-0415
  * All Rights Reserved
  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@@ -27,12 +27,7 @@ int main()
 {
   int n = 100000;
 
-  const Pose3 pose1((Matrix)(Matrix(3,3) <<
-      1., 0., 0.,
-      0.,-1., 0.,
-      0., 0.,-1.
-  ).finished(),
-  Point3(0,0,0.5));
+  const Pose3 pose1(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5));
 
   const Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5));
   const StereoCamera camera(pose1, K);