diff --git a/gtsam/base/types.h b/gtsam/base/types.h
index c5dac9ab7..857de00c9 100644
--- a/gtsam/base/types.h
+++ b/gtsam/base/types.h
@@ -28,6 +28,7 @@
 #include <cstdint>
 
 #include <exception>
+#include <string>
 
 #ifdef GTSAM_USE_TBB
 #include <tbb/scalable_allocator.h>
diff --git a/gtsam/sfm/TranslationFactor.h b/gtsam/sfm/TranslationFactor.h
index 9a4bd68a7..d63633d7e 100644
--- a/gtsam/sfm/TranslationFactor.h
+++ b/gtsam/sfm/TranslationFactor.h
@@ -67,8 +67,7 @@ class TranslationFactor : public NoiseModelFactor2<Point3, Point3> {
       boost::optional<Matrix&> H2 = boost::none) const override {
     const Point3 dir = Tb - Ta;
     Matrix33 H_predicted_dir;
-    const Point3 predicted =
-        dir.normalized(H1 || H2 ? &H_predicted_dir : nullptr);
+    const Point3 predicted = normalize(dir, H1 || H2 ? &H_predicted_dir : nullptr);
     if (H1) *H1 = -H_predicted_dir;
     if (H2) *H2 = H_predicted_dir;
     return predicted - measured_w_aZb_;