diff --git a/cpp/Cal3_S2.h b/cpp/Cal3_S2.h
index 54aa51ab0..10722c7b7 100644
--- a/cpp/Cal3_S2.h
+++ b/cpp/Cal3_S2.h
@@ -122,6 +122,8 @@ namespace gtsam {
 		}
 	};
 
+	typedef boost::shared_ptr<Cal3_S2> shared_ptrK;
+
 	/**
 	 * convert intrinsic coordinates xy to image coordinates uv
 	 */
diff --git a/cpp/VSLAMFactor.h b/cpp/VSLAMFactor.h
index 604159ffc..f6f7ea034 100644
--- a/cpp/VSLAMFactor.h
+++ b/cpp/VSLAMFactor.h
@@ -31,7 +31,6 @@ private:
 public:
 
 	typedef boost::shared_ptr<VSLAMFactor> shared_ptr; // shorthand for a smart pointer to a factor
-	typedef boost::shared_ptr<Cal3_S2> shared_ptrK;
 
 	/**
 	 * Default constructor
diff --git a/cpp/testVSLAMFactor.cpp b/cpp/testVSLAMFactor.cpp
index c8ae05e5a..8faa80aa1 100644
--- a/cpp/testVSLAMFactor.cpp
+++ b/cpp/testVSLAMFactor.cpp
@@ -32,7 +32,7 @@ TEST( VSLAMFactor, error )
 	double sigma=1.0;
 	int cameraFrameNumber=1, landmarkNumber=1;
 	boost::shared_ptr<VSLAMFactor>
-		factor(new VSLAMFactor(z, sigma, cameraFrameNumber, landmarkNumber, VSLAMFactor::shared_ptrK(new Cal3_S2(K))));
+		factor(new VSLAMFactor(z, sigma, cameraFrameNumber, landmarkNumber, shared_ptrK(new Cal3_S2(K))));
 
   // For the following configuration, the factor predicts 320,240
   VSLAMConfig config;
@@ -77,10 +77,10 @@ TEST( VSLAMFactor, equals )
 	double sigma=1.0;
 	int cameraFrameNumber=1, landmarkNumber=1;
 	boost::shared_ptr<VSLAMFactor>
-	  factor1(new VSLAMFactor(z, sigma, cameraFrameNumber, landmarkNumber, VSLAMFactor::shared_ptrK(new Cal3_S2(K))));
+	  factor1(new VSLAMFactor(z, sigma, cameraFrameNumber, landmarkNumber, shared_ptrK(new Cal3_S2(K))));
 
 	boost::shared_ptr<VSLAMFactor>
-		factor2(new VSLAMFactor(z, sigma, cameraFrameNumber, landmarkNumber, VSLAMFactor::shared_ptrK(new Cal3_S2(K))));
+		factor2(new VSLAMFactor(z, sigma, cameraFrameNumber, landmarkNumber, shared_ptrK(new Cal3_S2(K))));
 
 	CHECK(assert_equal(*factor1, *factor2));
 }
diff --git a/cpp/testVSLAMGraph.cpp b/cpp/testVSLAMGraph.cpp
index 3337898cd..0d5ac4517 100644
--- a/cpp/testVSLAMGraph.cpp
+++ b/cpp/testVSLAMGraph.cpp
@@ -49,7 +49,7 @@ VSLAMGraph testGraph() {
 	Point2 z24( 125, 125);
 
   double sigma = 1;
-  VSLAMFactor::shared_ptrK sK(new Cal3_S2(625, 625, 0, 0, 0));
+  shared_ptrK sK(new Cal3_S2(625, 625, 0, 0, 0));
   VSLAMGraph g;
   g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z11, sigma, 1, 1, sK)));
   g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z12, sigma, 1, 2, sK)));