diff --git a/gtsam/navigation/PreintegrationParams.cpp b/gtsam/navigation/PreintegrationParams.cpp
index 2298bb696..2548f95a6 100644
--- a/gtsam/navigation/PreintegrationParams.cpp
+++ b/gtsam/navigation/PreintegrationParams.cpp
@@ -34,7 +34,6 @@ void PreintegrationParams::print(const string& s) const {
        << endl;
   if (omegaCoriolis && use2ndOrderCoriolis)
     cout << "Using 2nd-order Coriolis" << endl;
-  if (body_P_sensor) body_P_sensor->print("    ");
   cout << "n_gravity = (" << n_gravity.transpose() << ")" << endl;
 }
 
diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h
index 8a1ffdd72..f80462847 100644
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@@ -80,7 +80,9 @@ namespace gtsam {
     /// @{
 
     /// print with optional string
-    void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
+    void print(
+        const std::string& s = "",
+        const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
       std::cout << s << "BetweenFactor("
           << keyFormatter(this->key1()) << ","
           << keyFormatter(this->key2()) << ")\n";