diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index ac08f0797..4fbc2a2cb 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -157,7 +157,7 @@ Pose3 Pose3::ChartAtOrigin::Retract(const Vector6& xi, ChartJacobian H) {
   return Expmap(xi, H);
 #else
   Matrix3 DR;
-  Rot3 R = Rot3::Retract(xi.head<3>(), H ? &DR : 0);
+  Rot3 R = Rot3::ChartAtOrigin::Retract(xi.head<3>(), H ? &DR : 0);
   if (H) {
     *H = I_6x6;
     H->topLeftCorner<3,3>() = DR;
@@ -172,7 +172,7 @@ Vector6 Pose3::ChartAtOrigin::Local(const Pose3& T, ChartJacobian H) {
   return Logmap(T, H);
 #else
   Matrix3 DR;
-  Vector3 omega = Rot3::LocalCoordinates(T.rotation(), H ? &DR : 0);
+  Vector3 omega = Rot3::ChartAtOrigin::Local(T.rotation(), H ? &DR : 0);
   if (H) {
     *H = I_6x6;
     H->topLeftCorner<3,3>() = DR;