diff --git a/gtsam/geometry/Cal3_S2.cpp b/gtsam/geometry/Cal3_S2.cpp
index 54deedfdc..980f7f969 100644
--- a/gtsam/geometry/Cal3_S2.cpp
+++ b/gtsam/geometry/Cal3_S2.cpp
@@ -44,8 +44,7 @@ Cal3_S2::Cal3_S2(const std::string &path) :
   if (infile)
     infile >> fx_ >> fy_ >> s_ >> u0_ >> v0_;
   else {
-    printf("Unable to load the calibration\n");
-    exit(0);
+    throw std::runtime_error("Cal3_S2: Unable to load the calibration");
   }
 
   infile.close();
diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp
index 1f5e5557c..2373e7df0 100644
--- a/gtsam/linear/JacobianFactor.cpp
+++ b/gtsam/linear/JacobianFactor.cpp
@@ -164,9 +164,10 @@ boost::tuple<FastVector<DenseIndex>, DenseIndex, DenseIndex> _countDims(
             n += vardim;
           } else {
             if(!(varDims[jointVarpos] == vardim)) {
-              cout << "Factor " << sourceFactorI << " variable " << DefaultKeyFormatter(sourceFactor.keys()[sourceVarpos]) <<
-              " has different dimensionality of " << vardim << " instead of " << varDims[jointVarpos] << endl;
-              exit(1);
+              std::stringstream ss;
+              ss << "Factor " << sourceFactorI << " variable " << DefaultKeyFormatter(sourceFactor.keys()[sourceVarpos]) <<
+              " has different dimensionality of " << vardim << " instead of " << varDims[jointVarpos];
+              throw std::runtime_error(ss.str());
             }
           }
 #else
diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h
index e554e0c85..cbeed77c5 100644
--- a/gtsam/slam/SmartProjectionFactor.h
+++ b/gtsam/slam/SmartProjectionFactor.h
@@ -183,12 +183,9 @@ public:
     std::vector<Matrix> Gs(numKeys * (numKeys + 1) / 2);
     std::vector<Vector> gs(numKeys);
 
-    if (this->measured_.size() != cameras.size()) {
-      std::cout
-          << "SmartProjectionHessianFactor: this->measured_.size() inconsistent with input"
-          << std::endl;
-      exit(1);
-    }
+    if (this->measured_.size() != cameras.size())
+      throw std::runtime_error("SmartProjectionHessianFactor: this->measured_"
+                               ".size() inconsistent with input");
 
     triangulateSafe(cameras);
 
diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
index f32dd3b3e..42ffa9e2f 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
@@ -206,12 +206,9 @@ public:
     std::vector<Matrix> Gs(numKeys * (numKeys + 1) / 2);
     std::vector<Vector> gs(numKeys);
 
-    if (this->measured_.size() != cameras.size()) {
-      std::cout
-          << "SmartStereoProjectionHessianFactor: this->measured_.size() inconsistent with input"
-          << std::endl;
-      exit(1);
-    }
+    if (this->measured_.size() != cameras.size())
+      throw std::runtime_error("SmartStereoProjectionHessianFactor: this->"
+                               "measured_.size() inconsistent with input");
 
     triangulateSafe(cameras);