diff --git a/gtsam/slam/OrientedPlane3Factor.cpp b/gtsam/slam/OrientedPlane3Factor.cpp
index 7c86e68cc..c1ad037e2 100644
--- a/gtsam/slam/OrientedPlane3Factor.cpp
+++ b/gtsam/slam/OrientedPlane3Factor.cpp
@@ -14,7 +14,7 @@ namespace gtsam {
 //***************************************************************************
 void OrientedPlane3Factor::print(const string& s,
     const KeyFormatter& keyFormatter) const {
-  cout << "OrientedPlane3Factor Factor on " << keyFormatter(landmarkKey_) << "\n";
+  cout << "OrientedPlane3Factor Factor on " << keyFormatter(key2()) << "\n";
   measured_p_.print("Measured Plane");
   this->noiseModel_->print("  noise model: ");
 }
diff --git a/gtsam/slam/OrientedPlane3Factor.h b/gtsam/slam/OrientedPlane3Factor.h
index a6ab5528b..1b1d1d4a0 100644
--- a/gtsam/slam/OrientedPlane3Factor.h
+++ b/gtsam/slam/OrientedPlane3Factor.h
@@ -18,8 +18,6 @@ namespace gtsam {
 class OrientedPlane3Factor: public NoiseModelFactor2<Pose3, OrientedPlane3> {
 
 protected:
-  Key poseKey_;
-  Key landmarkKey_;
   Vector measured_coeffs_;
   OrientedPlane3 measured_p_;
 
@@ -32,11 +30,16 @@ public:
   }
   virtual ~OrientedPlane3Factor() {}
 
-  /// Constructor with measured plane coefficients (a,b,c,d), noise model, pose symbol
-  OrientedPlane3Factor(const Vector&z, const SharedGaussian& noiseModel,
-      const Key& pose, const Key& landmark) :
-      Base(noiseModel, pose, landmark), poseKey_(pose), landmarkKey_(landmark), measured_coeffs_(
-          z) {
+  /** Constructor with measured plane (a,b,c,d) coefficients
+   * @param z measured plane (a,b,c,d) coefficients as 4D vector
+   * @param noiseModel noiseModel Gaussian noise model
+   * @param poseKey Key or symbol for unknown pose
+   * @param landmarkKey Key or symbol for unknown planar landmark
+   * @return the transformed plane
+   */
+  OrientedPlane3Factor(const Vector& z, const SharedGaussian& noiseModel,
+                       Key poseKey, Key landmarkKey)
+      : Base(noiseModel, poseKey, landmarkKey), measured_coeffs_(z) {
     measured_p_ = OrientedPlane3(Unit3(z(0), z(1), z(2)), z(3));
   }