diff --git a/gtsam/geometry/tests/testSimpleCamera.cpp b/gtsam/geometry/tests/testSimpleCamera.cpp
deleted file mode 100644
index f4f69a137..000000000
--- a/gtsam/geometry/tests/testSimpleCamera.cpp
+++ /dev/null
@@ -1,160 +0,0 @@
-/* ----------------------------------------------------------------------------
-
- * GTSAM Copyright 2010, Georgia Tech Research Corporation,
- * Atlanta, Georgia 30332-0415
- * All Rights Reserved
- * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
-
- * See LICENSE for the license information
-
- * -------------------------------------------------------------------------- */
-
-/**
- * @file testSimpleCamera.cpp
- * @author Frank Dellaert
- * @brief test SimpleCamera class
- */
-
-#include <gtsam/geometry/SimpleCamera.h>
-#include <gtsam/geometry/Pose2.h>
-#include <gtsam/base/Testable.h>
-#include <gtsam/base/numericalDerivative.h>
-#include <CppUnitLite/TestHarness.h>
-#include <cmath>
-#include <iostream>
-
-using namespace std;
-using namespace gtsam;
-
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-
-static const Cal3_S2 K(625, 625, 0, 0, 0);
-
-static const Pose3 pose1(Rot3(Vector3(1, -1, -1).asDiagonal()),
-                         Point3(0, 0, 0.5));
-
-static const SimpleCamera camera(pose1, K);
-
-static const Point3 point1(-0.08,-0.08, 0.0);
-static const Point3 point2(-0.08, 0.08, 0.0);
-static const Point3 point3( 0.08, 0.08, 0.0);
-static const Point3 point4( 0.08,-0.08, 0.0);
-
-/* ************************************************************************* */
-TEST( SimpleCamera, constructor)
-{
-  CHECK(assert_equal( camera.calibration(), K));
-  CHECK(assert_equal( camera.pose(), pose1));
-}
-
-/* ************************************************************************* */
-TEST( SimpleCamera, level2)
-{
-  // Create a level camera, looking in Y-direction
-  Pose2 pose2(0.4,0.3,M_PI/2.0);
-  SimpleCamera camera = SimpleCamera::Level(K, pose2, 0.1);
-
-  // expected
-  Point3 x(1,0,0),y(0,0,-1),z(0,1,0);
-  Rot3 wRc(x,y,z);
-  Pose3 expected(wRc,Point3(0.4,0.3,0.1));
-  CHECK(assert_equal( camera.pose(), expected));
-}
-
-/* ************************************************************************* */
-TEST( SimpleCamera, lookat)
-{
-  // Create a level camera, looking in Y-direction
-  Point3 C(10,0,0);
-  SimpleCamera camera = SimpleCamera::Lookat(C, Point3(0,0,0), Point3(0,0,1));
-
-  // expected
-  Point3 xc(0,1,0),yc(0,0,-1),zc(-1,0,0);
-  Pose3 expected(Rot3(xc,yc,zc),C);
-  CHECK(assert_equal( camera.pose(), expected));
-
-  Point3 C2(30,0,10);
-  SimpleCamera camera2 = SimpleCamera::Lookat(C2, Point3(0,0,0), Point3(0,0,1));
-
-  Matrix R = camera2.pose().rotation().matrix();
-  Matrix I = trans(R)*R;
-  CHECK(assert_equal(I, I_3x3));
-}
-
-/* ************************************************************************* */
-TEST( SimpleCamera, project)
-{
-  CHECK(assert_equal( camera.project(point1), Point2(-100,  100) ));
-  CHECK(assert_equal( camera.project(point2), Point2(-100, -100) ));
-  CHECK(assert_equal( camera.project(point3), Point2( 100, -100) ));
-  CHECK(assert_equal( camera.project(point4), Point2( 100,  100) ));
-}
-
-/* ************************************************************************* */
-TEST( SimpleCamera, backproject)
-{
-  CHECK(assert_equal( camera.backproject(Point2(-100,  100), 0.5),  point1));
-  CHECK(assert_equal( camera.backproject(Point2(-100, -100), 0.5),  point2));
-  CHECK(assert_equal( camera.backproject(Point2( 100, -100), 0.5),  point3));
-  CHECK(assert_equal( camera.backproject(Point2( 100,  100), 0.5),  point4));
-}
-
-/* ************************************************************************* */
-TEST( SimpleCamera, backproject2)
-{
-  Point3 origin(0,0,0);
-  Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.); // a camera looking down
-  SimpleCamera camera(Pose3(rot, origin), K);
-
-  Point3 actual = camera.backproject(Point2(0,0), 1.);
-  Point3 expected(0., 1., 0.);
-  pair<Point2, bool> x = camera.projectSafe(expected);
-
-  CHECK(assert_equal(expected, actual));
-  CHECK(assert_equal(Point2(0,0), x.first));
-  CHECK(x.second);
-}
-
-/* ************************************************************************* */
-static Point2 project2(const Pose3& pose, const Point3& point) {
-  return SimpleCamera(pose,K).project(point);
-}
-
-TEST( SimpleCamera, Dproject_point_pose)
-{
-  Matrix Dpose, Dpoint;
-  Point2 result = camera.project(point1, Dpose, Dpoint, {});
-  Matrix numerical_pose  = numericalDerivative21(project2, pose1, point1);
-  Matrix numerical_point = numericalDerivative22(project2, pose1, point1);
-  CHECK(assert_equal(result, Point2(-100,  100) ));
-  CHECK(assert_equal(Dpose,  numerical_pose, 1e-7));
-  CHECK(assert_equal(Dpoint, numerical_point,1e-7));
-}
-
-/* ************************************************************************* */
-TEST( SimpleCamera, simpleCamera)
-{
-  Cal3_S2 K(468.2,427.2,91.2,300,200);
-  Rot3 R(
-      0.41380,0.90915,0.04708,
-      -0.57338,0.22011,0.78917,
-      0.70711,-0.35355,0.61237);
-  Point3 T(1000,2000,1500);
-  SimpleCamera expected(Pose3(R.inverse(),T),K);
-  // H&Z example, 2nd edition, page 163
-  Matrix P = (Matrix(3,4) <<
-      3.53553e2, 3.39645e2, 2.77744e2, -1.44946e6,
-      -1.03528e2, 2.33212e1, 4.59607e2, -6.32525e5,
-      7.07107e-1, -3.53553e-1,6.12372e-1, -9.18559e2).finished();
-  SimpleCamera actual = simpleCamera(P);
-  // Note precision of numbers given in book
-  CHECK(assert_equal(expected, actual,1e-1));
-}
-
-#endif
-
-/* ************************************************************************* */
-int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
-/* ************************************************************************* */
-
-