template member function of template class called from template function

This doesn't compile:

template<class X> struct A {
   template<int I> void f() {}
};

template<class T> void g()
{
   A<T> a;
   a.f<3>();  // Compilation fails here (Line 18)
}

int main(int argc, char *argv[])
{
   g<int>();  // Line 23
}

The compiler (gcc) says:

hhh.cpp: In function 'void g()':

hhh.cpp:18: error: expected primary-expression before ')' token

hhh.cpp: In function 'void g() [with T = int]':

hhh.cpp:23: instantiated from here

hhh.cpp:18: error: invalid use of member (did you forget the '&' ?)

Can anyone explain why this is? Is there a way to get it to work?