diff --git a/doc/Code/LocalizationExample2.cpp b/doc/Code/LocalizationExample2.cpp
index 34b719e81..7fce69566 100644
--- a/doc/Code/LocalizationExample2.cpp
+++ b/doc/Code/LocalizationExample2.cpp
@@ -1,6 +1,6 @@
 // add unary measurement factors, like GPS, on all three poses
 noiseModel::Diagonal::shared_ptr unaryNoise = 
- unaryNoise::Diagonal::Sigmas(Vector2(0.1, 0.1)); // 10cm std on x,y
+ noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.1)); // 10cm std on x,y
 graph.add(boost::make_shared<UnaryFactor>(1, 0.0, 0.0, unaryNoise));
 graph.add(boost::make_shared<UnaryFactor>(2, 2.0, 0.0, unaryNoise));
 graph.add(boost::make_shared<UnaryFactor>(3, 4.0, 0.0, unaryNoise));
diff --git a/doc/Code/SFMExample.m b/doc/Code/SFMExample.m
index cb6bdf00b..80d7cf279 100644
--- a/doc/Code/SFMExample.m
+++ b/doc/Code/SFMExample.m
@@ -1,9 +1,9 @@
 %% Add factors for all measurements
-noise = noiseModel.Isotropic.Sigma(2,measurementNoiseSigma);
-for i=1:length(Z), 
-    for k=1:length(Z{i})
+noise = noiseModel.Isotropic.Sigma(2, measurementNoiseSigma);
+for i = 1:length(Z), 
+    for k = 1:length(Z{i})
         j = J{i}{k};
         G.add(GenericProjectionFactorCal3_S2(
-              Z{i}{k}, noise, symbol('x',i), symbol('p',j), K));
+              Z{i}{k}, noise, symbol('x', i), symbol('p', j), K));
     end
 end