diff --git a/geometry/Point2.cpp b/geometry/Point2.cpp
index c9b225f16..4a5581750 100644
--- a/geometry/Point2.cpp
+++ b/geometry/Point2.cpp
@@ -29,20 +29,4 @@ namespace gtsam {
     return sqrt(x_*x_ + y_*y_);
   }
 
-  /* ************************************************************************* */
-  Point2 Point2::transform_to(const Point2& point,
-  		boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
-	  if (H1) *H1 = -eye(2);
-	  if (H2) *H2 = eye(2);
-	  return point - *this;
-  }
-
-  /* ************************************************************************* */
-  Point2 Point2::transform_from(const Point2& point,
-  	boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
-	  if (H1) *H1 = eye(2);
-	  if (H2) *H2 = eye(2);
-	  return point + *this;
-  }
-
 } // namespace gtsam
diff --git a/geometry/Point2.h b/geometry/Point2.h
index ef94e3ff8..1dfdd7a47 100644
--- a/geometry/Point2.h
+++ b/geometry/Point2.h
@@ -41,17 +41,6 @@ namespace gtsam {
     /** equals with an tolerance, prints out message if unequal*/
     bool equals(const Point2& q, double tol = 1e-9) const;
 
-    /** simple transform_[to|from] to allow for generic algorithms */
-    /** Return point coordinates in pose coordinate frame */
-    Point2 transform_to(const Point2& point,
-    		boost::optional<Matrix&> H1=boost::none,
-    		boost::optional<Matrix&> H2=boost::none) const;
-
-    /** Return point coordinates in global frame */
-    Point2 transform_from(const Point2& point,
-    	boost::optional<Matrix&> H1=boost::none,
-    	boost::optional<Matrix&> H2=boost::none) const;
-
     /** Lie requirements */
 
     /** Size of the tangent space of the Lie type */
diff --git a/geometry/tests/testPoint2.cpp b/geometry/tests/testPoint2.cpp
index 4c8f5b11a..0f83f81d8 100644
--- a/geometry/tests/testPoint2.cpp
+++ b/geometry/tests/testPoint2.cpp
@@ -5,14 +5,11 @@
  **/
 
 #include <gtsam/CppUnitLite/TestHarness.h>
-#include <gtsam/base/numericalDerivative.h>
 #include <gtsam/geometry/Point2.h>
 
 using namespace std;
 using namespace gtsam;
 
-const double tol = 1e-5;
-
 /* ************************************************************************* */
 TEST( Point2, expmap)
 {
@@ -44,46 +41,6 @@ TEST( Point2, norm)
 	DOUBLES_EQUAL( 5,(p2-p1).norm(),1e-6);
 }
 
-/* ************************************************************************* */
-Point2 transform_from_proxy(const Point2& pose, const Point2& point) {
-	return pose.transform_from(point);
-}
-
-/* ************************************************************************* */
-Point2 transform_to_proxy(const Point2& pose, const Point2& point) {
-	return pose.transform_to(point);
-}
-
-Point2 offset(3.0, 4.0), pt(-5.0, 6.0);
-
-/* ************************************************************************* */
-TEST( Point2, transforms ) {
-	EXPECT(assert_equal(Point2(5.0, 6.0), offset.transform_from(Point2(2.0, 2.0))));
-	EXPECT(assert_equal(Point2(-1.0, -2.0), offset.transform_to(Point2(2.0, 2.0))));
-	EXPECT(assert_equal(Point2(1.0, 2.0), offset.transform_to(
-			offset.transform_from(Point2(1.0, 2.0)))));
-}
-
-/* ************************************************************************* */
-TEST( Point2, transform_to_derivatives ) {
-	Matrix actH1, actH2;
-	offset.transform_to(pt, actH1, actH2);
-	Matrix numericalH1 = numericalDerivative21(transform_to_proxy, offset, pt, 1e-5);
-	Matrix numericalH2 = numericalDerivative22(transform_to_proxy, offset, pt, 1e-5);
-	EXPECT(assert_equal(numericalH1, actH1, tol));
-	EXPECT(assert_equal(numericalH2, actH2, tol));
-}
-
-/* ************************************************************************* */
-TEST( Point2, transform_from_derivatives ) {
-	Matrix actH1, actH2;
-	offset.transform_from(pt, actH1, actH2);
-	Matrix numericalH1 = numericalDerivative21(transform_from_proxy, offset, pt, 1e-5);
-	Matrix numericalH2 = numericalDerivative22(transform_from_proxy, offset, pt, 1e-5);
-	EXPECT(assert_equal(numericalH1, actH1, tol));
-	EXPECT(assert_equal(numericalH2, actH2, tol));
-}
-
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */