diff --git a/gtsam/geometry/OrientedPlane3.cpp b/gtsam/geometry/OrientedPlane3.cpp
index f3e3a039f..156f7e03f 100644
--- a/gtsam/geometry/OrientedPlane3.cpp
+++ b/gtsam/geometry/OrientedPlane3.cpp
@@ -17,9 +17,7 @@
  * @brief  A plane, represented by a normal direction and perpendicular distance
  */
 
-#include <gtsam/base/numericalDerivative.h>
 #include <gtsam/geometry/OrientedPlane3.h>
-#include <gtsam/geometry/Point2.h>
 
 #include <iostream>
 
@@ -59,24 +57,6 @@ OrientedPlane3 OrientedPlane3::transform(const Pose3& xr,
   return OrientedPlane3(unit_vec(0), unit_vec(1), unit_vec(2), pred_d);
 }
 
-/* ************************************************************************* */
-Vector3 OrientedPlane3::error(const OrientedPlane3& other,
-                              OptionalJacobian<3, 3> H1,
-                              OptionalJacobian<3, 3> H2) const {
-  Vector2 n_error = -n_.localCoordinates(other.n_);
-  
-  const auto f = boost::bind(&Unit3::localCoordinates, _1, _2);
-  if (H1) {
-    Matrix2 H_n_error_this = -numericalDerivative21<Vector2, Unit3, Unit3>(f, n_, other.n_);
-    *H1 << H_n_error_this, Z_2x1, 0, 0, 1;
-  }
-  if (H2) {
-    Matrix H_n_error_other = -numericalDerivative22<Vector2, Unit3, Unit3>(f, n_, other.n_);
-    *H2 << H_n_error_other, Z_2x1, 0, 0, -1;
-  }
-  return Vector3(n_error(0), n_error(1), d_ - other.d_);
-}
-
 /* ************************************************************************* */
 Vector3 OrientedPlane3::errorVector(const OrientedPlane3& other,
                                     OptionalJacobian<3, 3> H1,
diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h
index 2550761b1..1ff21cd9c 100644
--- a/gtsam/geometry/OrientedPlane3.h
+++ b/gtsam/geometry/OrientedPlane3.h
@@ -20,13 +20,9 @@
 
 #pragma once
 
-#include <gtsam/geometry/Rot3.h>
 #include <gtsam/geometry/Unit3.h>
 #include <gtsam/geometry/Pose3.h>
 
-#include <algorithm>
-#include <string>
-
 namespace gtsam {
 
 /**
@@ -94,14 +90,6 @@ public:
                            OptionalJacobian<3, 3> Hp = boost::none,
                            OptionalJacobian<3, 6> Hr = boost::none) const;
 
-  /** Computes the error between two planes.
-   *  The error is a norm 1 difference in tangent space.
-   * @param other The other plane
-   */
-  Vector3 error(const OrientedPlane3& other,
-                OptionalJacobian<3, 3> H1 = boost::none,
-                OptionalJacobian<3, 3> H2 = boost::none) const;
-
   /** Computes the error between the two planes, with derivatives.
    *  This uses Unit3::errorVector, as opposed to the other .error() in this class, which uses
    *  Unit3::localCoordinates. This one has correct derivatives.
diff --git a/gtsam/geometry/tests/testOrientedPlane3.cpp b/gtsam/geometry/tests/testOrientedPlane3.cpp
index e164382d7..6f62ab4e2 100644
--- a/gtsam/geometry/tests/testOrientedPlane3.cpp
+++ b/gtsam/geometry/tests/testOrientedPlane3.cpp
@@ -144,27 +144,6 @@ TEST (OrientedPlane3, errorVector) {
   EXPECT(assert_equal(expectedH2, actualH2, 1e-5));
 }
 
-//*******************************************************************************
-TEST (OrientedPlane3, error) {
-  // Hard-coded regression values, to ensure the result doesn't change.
-  OrientedPlane3 plane1(-1, 0.1, 0.2, 5);
-  OrientedPlane3 plane2(-1.1, 0.2, 0.3, 5.4);
-
-  // Test the jacobians of transform
-  Matrix33 actualH1, expectedH1, actualH2, expectedH2;
-  Vector3 actual = plane1.error(plane2, actualH1, actualH2);
-
-  EXPECT(assert_equal((Vector) Z_3x1, plane1.error(plane1), 1e-8));
-  EXPECT(assert_equal(Vector3(0.0678852, 0.0761865, -0.4), actual, 1e-5));
-
-  boost::function<Vector3(const OrientedPlane3&, const OrientedPlane3&)> f = //
-      boost::bind(&OrientedPlane3::error, _1, _2, boost::none, boost::none);
-  expectedH1 = numericalDerivative21(f, plane1, plane2);
-  expectedH2 = numericalDerivative22(f, plane1, plane2);
-  EXPECT(assert_equal(expectedH1, actualH1, 1e-5));
-  EXPECT(assert_equal(expectedH2, actualH2, 1e-5));
-}
-
 //*******************************************************************************
 TEST (OrientedPlane3, jacobian_retract) {
   OrientedPlane3 plane(-1, 0.1, 0.2, 5);