diff --git a/gtsam/geometry/CalibratedCamera.cpp b/gtsam/geometry/CalibratedCamera.cpp
index 0e5a6a3ea..33f2c84eb 100644
--- a/gtsam/geometry/CalibratedCamera.cpp
+++ b/gtsam/geometry/CalibratedCamera.cpp
@@ -76,7 +76,7 @@ void PinholeBase::print(const string& s) const {
 }
 
 /* ************************************************************************* */
-const Pose3& PinholeBase::pose(OptionalJacobian<6, 6> H) const {
+const Pose3& PinholeBase::getPose(OptionalJacobian<6, 6> H) const {
   if (H) {
     H->setZero();
     H->block(0, 0, 6, 6) = I_6x6;
diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h
index 34edae2e1..ed0c55208 100644
--- a/gtsam/geometry/CalibratedCamera.h
+++ b/gtsam/geometry/CalibratedCamera.h
@@ -131,7 +131,7 @@ public:
   }
 
   /// return pose, with derivative
-  const Pose3& pose(OptionalJacobian<6, 6> H) const;
+  const Pose3& getPose(OptionalJacobian<6, 6> H) const;
 
   /// @}
   /// @name Transformations and measurement functions
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index 996313c5c..eb2dceee1 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -142,7 +142,7 @@ public:
   }
 
   /// return pose, with derivative
-  const Pose3& pose(OptionalJacobian<6, dimension> H) const {
+  const Pose3& getPose(OptionalJacobian<6, dimension> H) const {
     if (H) {
       H->setZero();
       H->block(0, 0, 6, 6) = I_6x6;
diff --git a/gtsam/geometry/tests/testPinholeCamera.cpp b/gtsam/geometry/tests/testPinholeCamera.cpp
index f1e698fc1..11c95d822 100644
--- a/gtsam/geometry/tests/testPinholeCamera.cpp
+++ b/gtsam/geometry/tests/testPinholeCamera.cpp
@@ -61,11 +61,11 @@ TEST( PinholeCamera, constructor)
 TEST(PinholeCamera, Pose) {
 
   Matrix actualH;
-  EXPECT(assert_equal(pose, camera.pose(actualH)));
+  EXPECT(assert_equal(pose, camera.getPose(actualH)));
 
   // Check derivative
   boost::function<Pose3(Camera)> f = //
-      boost::bind(&Camera::pose,_1,boost::none);
+      boost::bind(&Camera::getPose,_1,boost::none);
   Matrix numericalH = numericalDerivative11<Pose3,Camera>(f,camera);
   EXPECT(assert_equal(numericalH, actualH, 1e-9));
 }
diff --git a/gtsam/geometry/tests/testPinholePose.cpp b/gtsam/geometry/tests/testPinholePose.cpp
index c2ba412a4..f0c364955 100644
--- a/gtsam/geometry/tests/testPinholePose.cpp
+++ b/gtsam/geometry/tests/testPinholePose.cpp
@@ -58,32 +58,18 @@ TEST( PinholePose, constructor)
 }
 
 //******************************************************************************
-TEST(PinholePose, Pose) {
+TEST(PinholeCamera, Pose) {
 
   Matrix actualH;
-  EXPECT(assert_equal(pose, camera.pose(actualH)));
+  EXPECT(assert_equal(pose, camera.getPose(actualH)));
 
   // Check derivative
   boost::function<Pose3(Camera)> f = //
-      boost::bind(&Camera::pose,_1,boost::none);
+      boost::bind(&Camera::getPose,_1,boost::none);
   Matrix numericalH = numericalDerivative11<Pose3,Camera>(f,camera);
   EXPECT(assert_equal(numericalH, actualH, 1e-9));
 }
 
-/* ************************************************************************* */
-TEST( PinholePose, level2)
-{
-  // Create a level camera, looking in Y-direction
-  Pose2 pose2(0.4,0.3,M_PI/2.0);
-  Camera camera = Camera::Level(K, pose2, 0.1);
-
-  // expected
-  Point3 x(1,0,0),y(0,0,-1),z(0,1,0);
-  Rot3 wRc(x,y,z);
-  Pose3 expected(wRc,Point3(0.4,0.3,0.1));
-  EXPECT(assert_equal( camera.pose(), expected));
-}
-
 /* ************************************************************************* */
 TEST( PinholePose, lookat)
 {