diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index ccf39f153..f1cb482bb 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -100,7 +100,7 @@ Vector6 Pose3::adjointTranspose(const Vector6& xi, const Vector6& y,
 void Pose3::print(const string& s) const {
   cout << s;
   R_.print("R:\n");
-  traits<Point3>::Print(t_, "t: ");
+  cout << '[' << t_.x() << ", " << t_.y() << ", " << t_.z() << "]\';";
 }
 
 /* ************************************************************************* */
@@ -394,7 +394,9 @@ boost::optional<Pose3> align(const vector<Point3Pair>& pairs) {
 
 /* ************************************************************************* */
 std::ostream &operator<<(std::ostream &os, const Pose3& pose) {
-  os << pose.rotation() << "\n" << pose.translation() << endl;
+  os << pose.rotation() << "\n";
+  const Point3& t = pose.translation();
+  os << '[' << t.x() << ", " << t.y() << ", " << t.z() << "]\';\n";
   return os;
 }
 
diff --git a/gtsam/geometry/tests/testPoint3.cpp b/gtsam/geometry/tests/testPoint3.cpp
index c7fb44716..a4e2b139e 100644
--- a/gtsam/geometry/tests/testPoint3.cpp
+++ b/gtsam/geometry/tests/testPoint3.cpp
@@ -84,12 +84,14 @@ TEST( Point3, dot) {
 }
 
 /* ************************************************************************* */
+#ifndef GTSAM_USE_VECTOR3_POINTS
 TEST( Point3, stream) {
   Point3 p(1, 2, -3);
   std::ostringstream os;
   os << p;
   EXPECT(os.str() == "[1, 2, -3]';");
 }
+#endif
 
 //*************************************************************************
 TEST (Point3, normalize) {