From 6f5e85664c0b58771a1e49e792cc0b4ea2c445cf Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 24 Dec 2022 20:36:26 +0530
Subject: [PATCH] fix some more deprecation warnings

---
 gtsam/slam/StereoFactor.h                         | 2 +-
 gtsam_unstable/slam/LocalOrientedPlane3Factor.cpp | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h
index 3be255e45..1d2ef501d 100644
--- a/gtsam/slam/StereoFactor.h
+++ b/gtsam/slam/StereoFactor.h
@@ -144,7 +144,7 @@ public:
       std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) <<
           " moved behind camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl;
       if (throwCheirality_)
-        throw StereoCheiralityException(this->key2());
+        throw StereoCheiralityException(this->template key<2>());
     }
     return Vector3::Constant(2.0 * K_->fx());
   }
diff --git a/gtsam_unstable/slam/LocalOrientedPlane3Factor.cpp b/gtsam_unstable/slam/LocalOrientedPlane3Factor.cpp
index 25d7083f8..3a8cd0c6c 100644
--- a/gtsam_unstable/slam/LocalOrientedPlane3Factor.cpp
+++ b/gtsam_unstable/slam/LocalOrientedPlane3Factor.cpp
@@ -15,8 +15,8 @@ namespace gtsam {
 void LocalOrientedPlane3Factor::print(const string& s,
     const KeyFormatter& keyFormatter) const {
   cout << s << (s == "" ? "" : "\n");
-  cout << "LocalOrientedPlane3Factor Factor (" << keyFormatter(key1()) << ", "
-       << keyFormatter(key2()) << ", " << keyFormatter(key3()) << ")\n";
+  cout << "LocalOrientedPlane3Factor Factor (" << keyFormatter(key<1>()) << ", "
+       << keyFormatter(key<2>()) << ", " << keyFormatter(key<3>()) << ")\n";
   measured_p_.print("Measured Plane");
   this->noiseModel_->print("  noise model: ");
 }