diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp
index cb15f84a8..4a95b4297 100644
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
@@ -195,6 +195,13 @@ static SharedNoiseModel readNoiseModel(ifstream& is, bool smart,
   }
 }
 
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
+/* ************************************************************************* */
+boost::optional<IndexedPose> parseVertex(istream& is, const string& tag) {
+  return parseVertexPose(is, tag);
+}
+#endif
+
 /* ************************************************************************* */
 boost::optional<IndexedPose> parseVertexPose(istream& is, const string& tag) {
   if ((tag == "VERTEX2") || (tag == "VERTEX_SE2") || (tag == "VERTEX")) {
diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h
index 439a69fdc..7029a7a9c 100644
--- a/gtsam/slam/dataset.h
+++ b/gtsam/slam/dataset.h
@@ -79,6 +79,16 @@ typedef std::pair<Key, Pose2> IndexedPose;
 typedef std::pair<Key, Point2> IndexedLandmark;
 typedef std::pair<std::pair<Key, Key>, Pose2> IndexedEdge;
 
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
+/**
+ * Parse TORO/G2O vertex "id x y yaw"
+ * @param is input stream
+ * @param tag string parsed from input stream, will only parse if vertex type
+ */
+GTSAM_EXPORT boost::optional<IndexedPose> parseVertex(std::istream& is,
+    const std::string& tag);
+#endif
+
 /**
  * Parse TORO/G2O vertex "id x y yaw"
  * @param is input stream