diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index 50e487e75..334660ca8 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -285,11 +285,13 @@ Matrix4 Pose3::matrix() const {
 }
 
 /* ************************************************************************* */
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
 Pose3 Pose3::transform_to(const Pose3& pose) const {
   Rot3 cRv = R_ * Rot3(pose.R_.inverse());
   Point3 t = pose.transform_to(t_);
   return Pose3(cRv, t);
 }
+#endif
 
 /* ************************************************************************* */
 Pose3 Pose3::transform_pose_to(const Pose3& pose, OptionalJacobian<6, 6> H1,
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 757c4fdd4..0a27e5f17 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -253,11 +253,6 @@ public:
   /** convert to 4*4 matrix */
   Matrix4 matrix() const;
 
-  /** receives a pose in local coordinates and transforms it to world coordinates
-  * @deprecated: This is actually equivalent to transform_from, so it is WRONG! Use
-  * transform_pose_to instead. */
-  Pose3 transform_to(const Pose3& pose) const;
-
   /** receives a pose in world coordinates and transforms it to local coordinates */
   Pose3 transform_pose_to(const Pose3& pose, OptionalJacobian<6, 6> H1 = boost::none,
                                              OptionalJacobian<6, 6> H2 = boost::none) const;
@@ -321,6 +316,14 @@ public:
   GTSAM_EXPORT
   friend std::ostream &operator<<(std::ostream &os, const Pose3& p);
 
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
+  /// @name Deprecated
+  /// @{
+  /// This function is neither here not there. Do not use.
+  Pose3 transform_to(const Pose3& pose) const;
+  /// @}
+#endif
+
  private:
   /** Serialization function */
   friend class boost::serialization::access;
diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp
index d516ddc8b..9a6cce753 100644
--- a/gtsam/geometry/tests/testPose3.cpp
+++ b/gtsam/geometry/tests/testPose3.cpp
@@ -484,58 +484,6 @@ TEST( Pose3, transform_roundtrip)
     EXPECT(assert_equal(expected, actual));
 }
 
-/* ************************************************************************* */
-TEST( Pose3, transformPose_to_origin)
-{
-    // transform to origin
-    Pose3 actual = T3.transform_to(Pose3());
-    EXPECT(assert_equal(T3, actual, 1e-8));
-}
-
-/* ************************************************************************* */
-TEST( Pose3, transformPose_to_itself)
-{
-    // transform to itself
-    Pose3 actual = T3.transform_to(T3);
-    EXPECT(assert_equal(Pose3(), actual, 1e-8));
-}
-
-/* ************************************************************************* */
-TEST( Pose3, transformPose_to_translation)
-{
-    // transform translation only
-    Rot3 r = Rot3::Rodrigues(-1.570796,0,0);
-    Pose3 pose2(r, Point3(21.,32.,13.));
-    Pose3 actual = pose2.transform_to(Pose3(Rot3(), Point3(1,2,3)));
-    Pose3 expected(r, Point3(20.,30.,10.));
-    EXPECT(assert_equal(expected, actual, 1e-8));
-}
-
-/* ************************************************************************* */
-TEST( Pose3, transformPose_to_simple_rotate)
-{
-    // transform translation only
-    Rot3 r = Rot3::Rodrigues(0,0,-1.570796);
-    Pose3 pose2(r, Point3(21.,32.,13.));
-    Pose3 transform(r, Point3(1,2,3));
-    Pose3 actual = pose2.transform_to(transform);
-    Pose3 expected(Rot3(), Point3(-30.,20.,10.));
-    EXPECT(assert_equal(expected, actual, 0.001));
-}
-
-/* ************************************************************************* */
-TEST( Pose3, transformPose_to)
-{
-    // transform to
-    Rot3 r = Rot3::Rodrigues(0,0,-1.570796); //-90 degree yaw
-    Rot3 r2 = Rot3::Rodrigues(0,0,0.698131701); //40 degree yaw
-    Pose3 pose2(r2, Point3(21.,32.,13.));
-    Pose3 transform(r, Point3(1,2,3));
-    Pose3 actual = pose2.transform_to(transform);
-    Pose3 expected(Rot3::Rodrigues(0,0,2.26892803), Point3(-30.,20.,10.));
-    EXPECT(assert_equal(expected, actual, 0.001));
-}
-
 /* ************************************************************************* */
 TEST(Pose3, Retract_LocalCoordinates)
 {