diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index 7a522b003..643416826 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -354,7 +354,7 @@ Point3 Pose3::transformFrom(const Point3& point, OptionalJacobian<3, 6> Hself,
   return R_ * point + t_;
 }
 
-Matrix Pose3::transformAllFrom(const Matrix& points) const {
+Matrix Pose3::transformFrom(const Matrix& points) const {
   if (points.rows() != 3) {
     throw std::invalid_argument("Pose3:transformFrom expects 3*N matrix.");
   }
@@ -385,7 +385,7 @@ Point3 Pose3::transformTo(const Point3& point, OptionalJacobian<3, 6> Hself,
   return q;
 }
 
-Matrix Pose3::transformAllTo(const Matrix& points) const {
+Matrix Pose3::transformTo(const Matrix& points) const {
   if (points.rows() != 3) {
     throw std::invalid_argument("Pose3:transformTo expects 3*N matrix.");
   }
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 6a9c19d8b..01980d7af 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -254,7 +254,7 @@ public:
    * @param points 3*N matrix in Pose coordinates
    * @return points in world coordinates, as 3*N Matrix
    */
-  Matrix transformAllFrom(const Matrix& points) const;
+  Matrix transformFrom(const Matrix& points) const;
 
   /** syntactic sugar for transformFrom */
   inline Point3 operator*(const Point3& point) const {
@@ -276,7 +276,7 @@ public:
    * @param points 3*N matrix in world coordinates
    * @return points in Pose coordinates, as 3*N Matrix
    */
-  Matrix transformAllTo(const Matrix& points) const;
+  Matrix transformTo(const Matrix& points) const;
 
   /// @}
   /// @name Standard Interface
diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index da704d5ed..0fa931dcf 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -471,8 +471,8 @@ class Pose3 {
   gtsam::Point3 transformTo(const gtsam::Point3& point) const;
 
   // Matrix versions
-  Matrix transformAllFrom(const Matrix& points) const;
-  Matrix transformAllTo(const Matrix& points) const;
+  Matrix transformFrom(const Matrix& points) const;
+  Matrix transformTo(const Matrix& points) const;
 
   // Standard Interface
   gtsam::Rot3 rotation() const;
diff --git a/python/gtsam/tests/test_Pose3.py b/python/gtsam/tests/test_Pose3.py
index 736782943..cf96cbadb 100644
--- a/python/gtsam/tests/test_Pose3.py
+++ b/python/gtsam/tests/test_Pose3.py
@@ -15,7 +15,7 @@ import unittest
 import numpy as np
 
 import gtsam
-from gtsam import Point3, Pose3, Rot3
+from gtsam import Point3, Pose3, Rot3, Point3Pairs
 from gtsam.utils.test_case import GtsamTestCase
 
 
@@ -32,31 +32,31 @@ class TestPose3(GtsamTestCase):
 
     def test_transformTo(self):
         """Test transformTo method."""
-        pose = Pose3(Rot3.Rodrigues(0, 0, -1.570796), Point3(2, 4, 0))
+        pose = Pose3(Rot3.Rodrigues(0, 0, -math.pi/2), Point3(2, 4, 0))
         actual = pose.transformTo(Point3(3, 2, 10))
         expected = Point3(2, 1, 10)
         self.gtsamAssertEquals(actual, expected, 1e-6)
 
         # multi-point version
         points = np.stack([Point3(3, 2, 10), Point3(3, 2, 10)]).T
-        actual_array = pose.transformAllTo(points)
+        actual_array = pose.transformTo(points)
         self.assertEqual(actual_array.shape, (3, 2))
         expected_array = np.stack([expected, expected]).T
-        np.testing.assert_allclose(actual_array, expected_array)
+        np.testing.assert_allclose(actual_array, expected_array, atol=1e-6)
 
     def test_transformFrom(self):
         """Test transformTo method."""
-        pose = Pose3(Rot3.Rodrigues(0, 0, -1.570796), Point3(2, 4, 0))
+        pose = Pose3(Rot3.Rodrigues(0, 0, -math.pi/2), Point3(2, 4, 0))
         actual = pose.transformFrom(Point3(2, 1, 10))
         expected = Point3(3, 2, 10)
         self.gtsamAssertEquals(actual, expected, 1e-6)
 
         # multi-point version
         points = np.stack([Point3(2, 1, 10), Point3(2, 1, 10)]).T
-        actual_array = pose.transformAllFrom(points)
+        actual_array = pose.transformFrom(points)
         self.assertEqual(actual_array.shape, (3, 2))
         expected_array = np.stack([expected, expected]).T
-        np.testing.assert_allclose(actual_array, expected_array)
+        np.testing.assert_allclose(actual_array, expected_array, atol=1e-6)
 
     def test_range(self):
         """Test range method."""