diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp
index 613c5b40f..318655491 100644
--- a/gtsam/geometry/Rot3.cpp
+++ b/gtsam/geometry/Rot3.cpp
@@ -32,7 +32,8 @@ namespace gtsam {
 
 /* ************************************************************************* */
 void Rot3::print(const std::string& s) const {
-  gtsam::print((Matrix)matrix(), s);
+  cout << (s.empty() ? "R: " : s + " ");
+  gtsam::print((Matrix)matrix());
 }
 
 /* ************************************************************************* */
@@ -222,7 +223,7 @@ pair<Matrix3, Vector3> RQ(const Matrix3& A) {
 
 /* ************************************************************************* */
 ostream &operator<<(ostream &os, const Rot3& R) {
-  os << R.matrix().format(matlab) << endl;
+  os << R.matrix().format(matlab);
   return os;
 }
 
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index fc3a8b3f2..8ab7dd377 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -254,7 +254,7 @@ namespace gtsam {
     /// @{
 
     /** print */
-    void print(const std::string& s="R") const;
+    void print(const std::string& s="") const;
 
     /** equals with an tolerance */
     bool equals(const Rot3& p, double tol = 1e-9) const;
diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp
index 4e3a6d85e..d5400494e 100644
--- a/gtsam/geometry/tests/testRot3.cpp
+++ b/gtsam/geometry/tests/testRot3.cpp
@@ -608,7 +608,7 @@ TEST( Rot3, stream)
   Rot3 R;
   std::ostringstream os;
   os << R;
-  string expected = "[\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\n";
+  string expected = "[\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]";
   EXPECT(os.str() == expected);
 }