diff --git a/gtsam/geometry/Similarity3.cpp b/gtsam/geometry/Similarity3.cpp
index fcaf0c874..58bace0f1 100644
--- a/gtsam/geometry/Similarity3.cpp
+++ b/gtsam/geometry/Similarity3.cpp
@@ -26,7 +26,7 @@ namespace gtsam {
 
 using std::vector;
 
-namespace {
+namespace internal {
 /// Subtract centroids from point pairs.
 static Point3Pairs subtractCentroids(const Point3Pairs &abPointPairs,
                                     const Point3Pair &centroids) {
@@ -79,10 +79,10 @@ static Similarity3 align(const Point3Pairs &d_abPointPairs, const Rot3 &aRb,
 static Similarity3 alignGivenR(const Point3Pairs &abPointPairs,
                                const Rot3 &aRb) {
   auto centroids = means(abPointPairs);
-  auto d_abPointPairs = subtractCentroids(abPointPairs, centroids);
+  auto d_abPointPairs = internal::subtractCentroids(abPointPairs, centroids);
   return align(d_abPointPairs, aRb, centroids);
 }
-}  // namespace
+}  // namespace internal
 
 Similarity3::Similarity3() :
     t_(0,0,0), s_(1) {
@@ -163,11 +163,11 @@ Similarity3 Similarity3::Align(const Point3Pairs &abPointPairs) {
   if (abPointPairs.size() < 3)
     throw std::runtime_error("input should have at least 3 pairs of points");
   auto centroids = means(abPointPairs);
-  auto d_abPointPairs = subtractCentroids(abPointPairs, centroids);
-  Matrix3 H = calculateH(d_abPointPairs);
+  auto d_abPointPairs = internal::subtractCentroids(abPointPairs, centroids);
+  Matrix3 H = internal::calculateH(d_abPointPairs);
   // ClosestTo finds rotation matrix closest to H in Frobenius sense
   Rot3 aRb = Rot3::ClosestTo(H);
-  return align(d_abPointPairs, aRb, centroids);
+  return internal::align(d_abPointPairs, aRb, centroids);
 }
 
 Similarity3 Similarity3::Align(const vector<Pose3Pair> &abPosePairs) {
@@ -190,7 +190,7 @@ Similarity3 Similarity3::Align(const vector<Pose3Pair> &abPosePairs) {
   }
   const Rot3 aRb_estimate = FindKarcherMean<Rot3>(rotations);
 
-  return alignGivenR(abPointPairs, aRb_estimate);
+  return internal::alignGivenR(abPointPairs, aRb_estimate);
 }
 
 Matrix4 Similarity3::wedge(const Vector7 &xi) {
@@ -281,7 +281,7 @@ std::ostream &operator<<(std::ostream &os, const Similarity3& p) {
   return os;
 }
 
-const Matrix4 Similarity3::matrix() const {
+Matrix4 Similarity3::matrix() const {
   Matrix4 T;
   T.topRows<3>() << R_.matrix(), t_;
   T.bottomRows<1>() << 0, 0, 0, 1.0 / s_;
diff --git a/gtsam/geometry/Similarity3.h b/gtsam/geometry/Similarity3.h
index 0ef787b05..27fdba6d7 100644
--- a/gtsam/geometry/Similarity3.h
+++ b/gtsam/geometry/Similarity3.h
@@ -180,15 +180,15 @@ public:
   /// @{
 
   /// Calculate 4*4 matrix group equivalent
-  GTSAM_EXPORT const Matrix4 matrix() const;
+  GTSAM_EXPORT Matrix4 matrix() const;
 
   /// Return a GTSAM rotation
-  const Rot3& rotation() const {
+  Rot3 rotation() const {
     return R_;
   }
 
   /// Return a GTSAM translation
-  const Point3& translation() const {
+  Point3 translation() const {
     return t_;
   }