diff --git a/gtsam/slam/OrientedPlane3Factor.cpp b/gtsam/slam/OrientedPlane3Factor.cpp
index c1ad037e2..918831a30 100644
--- a/gtsam/slam/OrientedPlane3Factor.cpp
+++ b/gtsam/slam/OrientedPlane3Factor.cpp
@@ -27,7 +27,7 @@ Vector OrientedPlane3Factor::evaluateError(const Pose3& pose,
   Matrix33 predicted_H_plane, error_H_predicted;
   OrientedPlane3 predicted_plane = plane.transform(pose, H2 ? &predicted_H_plane : nullptr,
                                                          H1 ? &predicted_H_pose  : nullptr);
-  Vector3 err = predicted_plane.error(
+  Vector3 err = predicted_plane.errorVector(
       measured_p_, (H1 || H2) ? &error_H_predicted : nullptr);
 
   // Apply the chain rule to calculate the derivatives.
@@ -44,7 +44,7 @@ Vector OrientedPlane3Factor::evaluateError(const Pose3& pose,
 //***************************************************************************
 void OrientedPlane3DirectionPrior::print(const string& s,
     const KeyFormatter& keyFormatter) const {
-  cout << "Prior Factor on " << keyFormatter(landmarkKey_) << "\n";
+  cout << "Prior Factor on " << keyFormatter(key()) << "\n";
   measured_p_.print("Measured Plane");
   this->noiseModel_->print("  noise model: ");
 }
@@ -58,26 +58,17 @@ bool OrientedPlane3DirectionPrior::equals(const NonlinearFactor& expected,
 }
 
 //***************************************************************************
-
-Vector OrientedPlane3DirectionPrior::evaluateError(const OrientedPlane3& plane,
-    boost::optional<Matrix&> H) const {
-
+Vector OrientedPlane3DirectionPrior::evaluateError(
+    const OrientedPlane3& plane, boost::optional<Matrix&> H) const {
+  Unit3 n_hat_p = measured_p_.normal();
+  Unit3 n_hat_q = plane.normal();
+  Matrix2 H_p;
+  Vector e = n_hat_p.error(n_hat_q, H ? &H_p : nullptr);
   if (H) {
-    Matrix H_p;
-    Unit3 n_hat_p = measured_p_.normal();
-    Unit3 n_hat_q = plane.normal();
-    Vector e = n_hat_p.error(n_hat_q, H_p);
     H->resize(2, 3);
-    H->block<2, 2>(0, 0) << H_p;
-    H->block<2, 1>(0, 2) << Z_2x1;
-    return e;
-  } else {
-    Unit3 n_hat_p = measured_p_.normal();
-    Unit3 n_hat_q = plane.normal();
-    Vector e = n_hat_p.error(n_hat_q);
-    return e;
+    *H << H_p, Z_2x1;
   }
-
-}
+  return e;
 }
 
+}  // namespace gtsam
diff --git a/gtsam/slam/OrientedPlane3Factor.h b/gtsam/slam/OrientedPlane3Factor.h
index 1b1d1d4a0..b7152ab73 100644
--- a/gtsam/slam/OrientedPlane3Factor.h
+++ b/gtsam/slam/OrientedPlane3Factor.h
@@ -16,15 +16,11 @@ namespace gtsam {
  * Factor to measure a planar landmark from a given pose
  */
 class OrientedPlane3Factor: public NoiseModelFactor2<Pose3, OrientedPlane3> {
-
-protected:
-  Vector measured_coeffs_;
+ protected:
   OrientedPlane3 measured_p_;
-
   typedef NoiseModelFactor2<Pose3, OrientedPlane3> Base;
 
-public:
-
+ public:
   /// Constructor
   OrientedPlane3Factor() {
   }
@@ -37,11 +33,9 @@ public:
    * @param landmarkKey Key or symbol for unknown planar landmark
    * @return the transformed plane
    */
-  OrientedPlane3Factor(const Vector& z, const SharedGaussian& noiseModel,
+  OrientedPlane3Factor(const Vector4& 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));
-  }
+      : Base(noiseModel, poseKey, landmarkKey), measured_p_(z) {}
 
   /// print
   void print(const std::string& s = "OrientedPlane3Factor",
@@ -55,24 +49,21 @@ public:
 };
 
 // TODO: Convert this factor to dimension two, three dimensions is redundant for direction prior
-class OrientedPlane3DirectionPrior: public NoiseModelFactor1<OrientedPlane3> {
-protected:
-  OrientedPlane3 measured_p_; /// measured plane parameters
-  Key landmarkKey_;
+class OrientedPlane3DirectionPrior : public NoiseModelFactor1<OrientedPlane3> {
+ protected:
+  OrientedPlane3 measured_p_;  /// measured plane parameters
   typedef NoiseModelFactor1<OrientedPlane3> Base;
-public:
 
+ public:
   typedef OrientedPlane3DirectionPrior This;
   /// Constructor
   OrientedPlane3DirectionPrior() {
   }
 
   /// Constructor with measured plane coefficients (a,b,c,d), noise model, landmark symbol
-  OrientedPlane3DirectionPrior(Key key, const Vector&z,
-      const SharedGaussian& noiseModel) :
-      Base(noiseModel, key), landmarkKey_(key) {
-    measured_p_ = OrientedPlane3(Unit3(z(0), z(1), z(2)), z(3));
-  }
+  OrientedPlane3DirectionPrior(Key key, const Vector4& z,
+                               const SharedGaussian& noiseModel)
+      : Base(noiseModel, key), measured_p_(z) {}
 
   /// print
   void print(const std::string& s = "OrientedPlane3DirectionPrior",