diff --git a/gtsam_unstable/geometry/Similarity3.cpp b/gtsam_unstable/geometry/Similarity3.cpp
index 4a330b15b..859db1c4a 100644
--- a/gtsam_unstable/geometry/Similarity3.cpp
+++ b/gtsam_unstable/geometry/Similarity3.cpp
@@ -87,7 +87,7 @@ Point3 Similarity3::transformFrom(const Point3& p, //
 
 Pose3 Similarity3::transformFrom(const Pose3& T) const {
   Rot3 R = R_.compose(T.rotation());
-  Point3 t = Point3(s_ * (R_.matrix() * T.translation().vector() + t_.vector()));
+  Point3 t = Point3(s_ * (R_ * T.translation() + t_));
   return Pose3(R, t);
 }