diff --git a/gtsam/geometry/Point2.cpp b/gtsam/geometry/Point2.cpp
index 8f2b6c3e2..d8060cfcf 100644
--- a/gtsam/geometry/Point2.cpp
+++ b/gtsam/geometry/Point2.cpp
@@ -23,12 +23,6 @@ using namespace std;
 
 namespace gtsam {
 
-/* ************************************************************************* */
-ostream &operator<<(ostream &os, const Point2& p) {
-  os << p.transpose();
-  return os;
-}
-
 /* ************************************************************************* */
 double norm2(const Point2& p, OptionalJacobian<1,2> H) {
   double r = std::sqrt(p.x() * p.x() + p.y() * p.y());
diff --git a/gtsam/geometry/Point2.h b/gtsam/geometry/Point2.h
index 312e65b3b..e6574fe41 100644
--- a/gtsam/geometry/Point2.h
+++ b/gtsam/geometry/Point2.h
@@ -26,8 +26,6 @@ namespace gtsam {
 /// it is now possible to just typedef Point2 to Vector2
 typedef Vector2 Point2;
 
-GTSAM_EXPORT std::ostream &operator<<(std::ostream &os, const gtsam::Point2 &p);
-
 /// Distance of the point from the origin, with Jacobian
 GTSAM_EXPORT double norm2(const Point2& p, OptionalJacobian<1, 2> H = boost::none);
 
diff --git a/gtsam/geometry/Point3.cpp b/gtsam/geometry/Point3.cpp
index c976f8bcc..7a46f5988 100644
--- a/gtsam/geometry/Point3.cpp
+++ b/gtsam/geometry/Point3.cpp
@@ -22,12 +22,6 @@ using namespace std;
 
 namespace gtsam {
 
-/* ************************************************************************* */
-ostream &operator<<(ostream &os, const Point3& p) {
-  os << p.transpose();
-  return os;
-}
-
 /* ************************************************************************* */
 double distance3(const Point3 &p1, const Point3 &q, OptionalJacobian<1, 3> H1,
                  OptionalJacobian<1, 3> H2) {
diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h
index df0feff4f..19e328022 100644
--- a/gtsam/geometry/Point3.h
+++ b/gtsam/geometry/Point3.h
@@ -33,8 +33,6 @@ namespace gtsam {
 /// it is now possible to just typedef Point3 to Vector3
 typedef Vector3 Point3;
 
-GTSAM_EXPORT std::ostream &operator<<(std::ostream &os, const gtsam::Point3 &p);
-
 // Convenience typedef
 typedef std::pair<Point3, Point3> Point3Pair;
 GTSAM_EXPORT std::ostream &operator<<(std::ostream &os, const gtsam::Point3Pair &p);
diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp
index 1d191416f..7d4797132 100644
--- a/gtsam/navigation/NavState.cpp
+++ b/gtsam/navigation/NavState.cpp
@@ -89,8 +89,8 @@ Matrix7 NavState::matrix() const {
 //------------------------------------------------------------------------------
 ostream& operator<<(ostream& os, const NavState& state) {
   os << "R: " << state.attitude() << "\n";
-  os << "p: " << state.position() << "\n";
-  os << "v: " << Point3(state.velocity());
+  os << "p: " << state.position().transpose() << "\n";
+  os << "v: " << state.velocity().transpose();
   return os;
 }