diff --git a/image_geometry/image_geometry/cameramodels.py b/image_geometry/image_geometry/cameramodels.py
index a6cf27f0..86a5be24 100644
--- a/image_geometry/image_geometry/cameramodels.py
+++ b/image_geometry/image_geometry/cameramodels.py
@@ -3,8 +3,6 @@
 import copy
 import numpy
 import numpy as np
-import warnings
-from deprecated.sphinx import deprecated
 
 def _mkmat(rows, cols, L) -> numpy.ndarray:
     mat = np.array(L,dtype='float64')
@@ -334,418 +332,6 @@ def get_tf_frame(self)->str:
         """
         return self._tf_frame
 
-    # Deprecated members planned for removal in K-turtle
-    # --------------------------------------------------
-    @property
-    @deprecated(version="J-turtle", reason="The binning_x property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.")
-    def binning_x(self):
-        """ 
-        .. warning::
-            The binning_x property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.
-        """
-        return self._binning_x
-
-    @property
-    @deprecated(version="J-turtle", reason="The binning_y property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.")
-    def binning_y(self):
-        """ 
-        .. warning::
-            The binning_y property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.
-        """
-        return self._binning_y
-
-    @property
-    @deprecated(version="J-turtle", reason="The D->numpy.matrix property is deprecated as of J-turtle, and will be removed in K-turtle. Please use the distortion_coeffs()->numpy.ndarray method instead.")
-    def D(self)->numpy.matrix:
-        """ 
-        .. warning::
-            The D property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.
-        """
-        return numpy.matrix(self._d, dtype="float64")
-
-    @property
-    @deprecated(version="J-turtle", reason="The full_K->numpy.matrix property is deprecated as of J-turtle, and will be removed in K-turtle. Please use the full_intrinsic_matrix()->numpy.ndarray method instead.")
-    def full_K(self)->numpy.matrix:
-        """ 
-        .. warning::
-            The full_K property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.
-        """
-        return numpy.matrix(self._full_k, dtype="float64")
-
-    @property
-    @deprecated(version="J-turtle", reason="The full_P->numpy.matrix property is deprecated as of J-turtle, and will be removed in K-turtle. Please use the full_projection_matrix()->numpy.ndarray method instead.")
-    def full_P(self)->numpy.matrix:
-        """ 
-        .. warning::
-            The full_P property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.
-        """
-        return numpy.matrix(self._full_p, dtype="float64")
-
-    @property
-    @deprecated(version="J-turtle", reason="The height property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.")
-    def height(self):
-        """ 
-        .. warning::
-            The height property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.
-        """
-        return self._height
-
-    @property
-    @deprecated(version="J-turtle", reason="The K->numpy.matrix property is deprecated as of J-turtle, and will be removed in K-turtle. Please use the intrinsic_matrix()->numpy.ndarray method instead.")
-    def K(self)->numpy.matrix:
-        """ 
-        .. warning::
-            The K property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.
-        """
-        return numpy.matrix(self._k, dtype="float64")
-
-    @property
-    @deprecated(version="J-turtle", reason="The P->numpy.matrix property is deprecated as of J-turtle, and will be removed in K-turtle. Please use the projection_matrix()->numpy.ndarray method instead.")
-    def P(self)->numpy.matrix:
-        """ 
-        .. warning::
-            The P property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.
-        """
-        return numpy.matrix(self._p, dtype="float64")
-
-    @property
-    @deprecated(version="J-turtle", reason="The R->numpy.matrix property is deprecated as of J-turtle, and will be removed in K-turtle. Please use the rotation_matrix()->numpy.ndarray method instead.")
-    def R(self)->numpy.matrix:
-        """ 
-        .. warning::
-            The R property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.
-        """
-        return numpy.matrix(self._r)
-
-    @property
-    @deprecated(version="J-turtle", reason="The binning_y property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.")
-    def raw_roi(self):
-        """ 
-        .. warning::
-            The raw_roi property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.
-        """
-        return self._raw_roi
-
-    @property
-    @deprecated(version="J-turtle", reason="The stamp property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.")
-    def stamp(self):
-        """ 
-        .. warning::
-            The stamp property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.
-        """
-        return self._stamp
-
-    @property
-    @deprecated(version="J-turtle", reason="The tf_frame property is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_tf_frame() method.")
-    def tf_frame(self):
-        """ 
-        .. warning::
-            The tf_frame property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.
-        """
-        return self._tf_frame
-
-    @property
-    @deprecated(version="J-turtle", reason="The width property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.")
-    def width(self):
-        """ 
-        .. warning::
-            The width property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.
-        """
-        return self._width
-    
-    @deprecated(version="J-turtle", reason="The distortionCoeffs()->numpy.matrix method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the distortion_coeffs()->numpy.ndarray method instead.")
-    def distortionCoeffs(self)->numpy.matrix:
-        """ 
-        .. warning::
-            The distortionCoeffs()->numpy.matrix method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the distortion_coeffs()->numpy.ndarray method instead."
-        
-        :rtype:                 numpy.matrix
-        
-        Returns :math:`D` 
-        """
-        return numpy.matrix(self.distortion_coeffs(), dtype="float64")
-
-    @deprecated(version="J-turtle", reason="The fovX() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the fov_x() method instead.")
-    def fovX(self)->float:
-        """ 
-        .. warning::
-            The fovX() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the fov_x() method instead.
-
-        :rtype:                 float      
-        
-        Returns the horizontal field of view in radians.
-        Horizontal FoV = 2 * arctan((width) / (2 * Horizontal Focal Length) )
-        """
-        return self.fov_x()
-
-    @deprecated(version="J-turtle", reason="The fovY() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the fov_y() method instead.")
-    def fovY(self)->float:
-        """ 
-        .. warning::
-            The fovY() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the fov_y() method instead.
-        
-        :rtype:                 float      
-        
-        Returns the vertical field of view in radians.
-        Vertical FoV = 2 * arctan((height) / (2 * Vertical Focal Length) )
-        """
-        return self.fov_y()
-
-    @deprecated(version="J-turtle", reason="The fromCameraInfo() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the from_camera_info() method instead.")
-    def fromCameraInfo(self,msg)->None:
-        """
-        .. warning::
-            The fromCameraInfo() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the from_camera_info() method instead.
-
-        :param msg: camera parameters
-        :type msg:  sensor_msgs.msg.CameraInfo
-        
-        Set the camera parameters from the :class:`sensor_msgs.msg.CameraInfo` message.
-        """
-        self.from_camera_info(msg)
-
-    @deprecated(version="J-turtle", reason="The fullIntrinsicMatrix()->numpy.matrix method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the full_intrinsic_matrix()->numpy.ndarray method instead.")
-    def fullIntrinsicMatrix(self) -> numpy.matrix:
-        """ 
-        .. warning::
-            The fullIntrinsicMatrix()->numpy.matrix method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the full_intrinsic_matrix()->numpy.ndarray method instead.
-        
-        :rtype:                 numpy.matrix
-
-        Return the original camera matrix for full resolution 
-        """
-        return numpy.matrix(self.full_intrinsic_matrix(), dtype='float64')
-
-    @deprecated(version="J-turtle", reason="The fullProjectionMatrix()->numpy.matrix method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the full_projection_matrix()->numpy.ndarray method instead.")
-    def fullProjectionMatrix(self)->numpy.matrix:
-        """ 
-        .. warning::
-            The fullProjectionMatrix()->numpy.matrix method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the full_projection_matrix()->numpy.ndarray method instead.
-        
-        :rtype:                 numpy.matrix
-
-        Return the projection matrix for full resolution """
-        return numpy.matrix(self.full_projection_matrix(), dtype='float64')
- 
-    @deprecated(version="J-turtle", reason="The fullResolution() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the full_resolution() method instead.")
-    def fullResolution(self)->tuple[int, int]:
-        """
-        .. warning::
-            The fullResolution() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the full_resolution() method instead.
-            
-        :rtype:                 tuple[int, int]
-
-        Returns the full resolution of the camera as a tuple in the format (width, height)
-        """
-        return self.full_resolution()
-
-    @deprecated(version="J-turtle", reason="The getDeltaU() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_delta_u() method instead.")
-    def getDeltaU(self, deltaX, Z)->float:
-        """
-        .. warning::
-            The getDeltaU() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_delta_u() method instead.
-        
-        :param deltaX:          delta X, in cartesian space
-        :type deltaX:           float
-        :param Z:               Z, in cartesian space
-        :type Z:                float
-        :rtype:                 float
-
-        Compute delta u, given Z and delta X in Cartesian space.
-        For given Z, this is the inverse of :math:`get_delta_x`.
-        """
-        return self.get_delta_u(deltaX, Z)
-
-    @deprecated(version="J-turtle", reason="The getDeltaV() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_delta_v() method instead.")
-    def getDeltaV(self, deltaY, Z)->float:
-        """
-        .. warning::
-            he getDeltaV() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_delta_v() method instead.
-
-        :param deltaY:          delta Y, in cartesian space
-        :type deltaY:           float
-        :param Z:               Z, in cartesian space
-        :type Z:                float
-        :rtype:                 float
-
-        Compute delta v, given Z and delta Y in Cartesian space.
-        For given Z, this is the inverse of :math:`get_delta_y`.
-
-        """
-        return(self.get_delta_v(deltaY,Z))    
-
-    @deprecated(version="J-turtle", reason="The getDeltaX() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_delta_x() method instead.")
-    def getDeltaX(self, deltaU, Z)->float:
-        """
-        .. warning::
-            The getDeltaX() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_delta_x() method instead.
-        
-        :param deltaU:          delta u in pixels
-        :type deltaU:           float
-        :param Z:               Z, in cartesian space
-        :type Z:                float
-        :rtype:                 float
-
-        Compute delta X, given Z in cartesian space and delta u in pixels.
-        For given Z, this is the inverse of :math:`get_delta_u`.
-        """
-        return self.get_delta_x(deltaU,Z)
-    
-    @deprecated(version="J-turtle", reason="The getDeltaY() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_delta_y() method instead.")
-    def getDeltaY(self, deltaV, Z)->float:
-        """
-        .. warning::
-            The getDeltaY() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_delta_y() method instead.
-
-        :param deltaV:          delta v in pixels
-        :type deltaV:           float
-        :param Z:               Z, in cartesian space
-        :type Z:                float
-        :rtype:                 float
-
-        Compute delta Y, given Z in cartesian space and delta v in pixels.
-        For given Z, this is the inverse of :math:`get_delta_v`.
-        """
-        return self.get_delta_y(deltaV,Z)
-
-    @deprecated(version="J-turtle", reason="The intrinsicMatrix()->numpy.matrix method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the intrinsic_matrix()->numpy.ndarray method instead.")
-    def intrinsicMatrix(self)->numpy.matrix:
-        """ 
-        .. warning::
-            The intrinsicMatrix()->numpy.matrix method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the intrinsic_matrix()->numpy.ndarray method instead.
-        
-        :rtype:                 numpy.matrix
-
-        Returns :math:`K`, also called camera_matrix in cv docs 
-        """
-        return numpy.matrix(self.intrinsic_matrix(), dtype="float64")
-
-    @deprecated(version="J-turtle", reason="The project3dToPixel() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the project_3d_to_pixel() method instead.")
-    def project3dToPixel(self, point)->tuple[float,float]:
-        """
-        .. warning::
-            The project3dToPixel() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the project_3d_to_pixel() method instead.
-
-        :param point:     3D point
-        :type point:      (x, y, z)
-        :rtype:            tuple[float,float]
-        
-        Returns the rectified pixel coordinates (u, v) of the 3D point,
-        using the camera :math:`P` matrix.
-        This is the inverse of :math:`projectPixelTo3dRay`.
-        """
-        return self.project_3d_to_pixel(point)
-    
-    @deprecated(version="J-turtle", reason="The projectionMatrix()->numpy.matrix method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the projection_matrix()->numpy.ndarray method instead.")
-    def projectionMatrix(self) -> numpy.matrix:
-        """ 
-        .. warning::
-            The projectionMatrix()->numpy.matrix method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the projection_matrix()->numpy.ndarray method instead.
-        
-        :rtype:                 numpy.matrix
-
-        Returns :math:`P` 
-        """
-        return np.matrix(self.projection_matrix(), dtype='float64')
-
-    @deprecated(version="J-turtle", reason="The projectPixelTo3dRay() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the project_pixel_to_3d_ray() method instead.")
-    def projectPixelTo3dRay(self, uv)->tuple[float,float,float]:
-        """
-        .. warning::
-            The projectPixelTo3dRay() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the project_pixel_to_3d_ray() method instead.
-        
-        :param uv:        rectified pixel coordinates
-        :type uv:         (u, v)
-        :rtype:           tuple[float,float,float]
-
-        Returns the unit vector which passes from the camera center to through rectified pixel (u, v),
-        using the camera :math:`P` matrix.
-        This is the inverse of :math:`project_3d_to_pixel`.
-        """
-        return self.project_pixel_to_3d_ray(uv)
-
-    @deprecated(version="J-turtle", reason="The rectifyImage() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the rectify_image() method instead.")
-    def rectifyImage(self, raw, rectified):
-        """
-        .. warning::
-            The rectifyImage() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the rectify_image() method instead.
-
-        :param raw:       input image
-        :type raw:        :class:`CvMat` or :class:`IplImage`
-        :param rectified: rectified output image
-        :type rectified:  :class:`CvMat` or :class:`IplImage`
-        
-        Applies the rectification specified by camera parameters :math:`K` and and :math:`D` to image `raw` and writes the resulting image `rectified`.
-        """
-        self.rectify_image(raw, rectified)
-
-    @deprecated(version="J-turtle", reason="The rectifyPoint() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the rectify_point() method instead.")
-    def rectifyPoint(self, uv_raw)->numpy.ndarray:
-        """
-        .. warning::
-            The rectifyPoint() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the rectify_point() method instead.
-        
-        :param uv_raw:    pixel coordinates
-        :type uv_raw:     (u, v)
-        :rtype:           numpy.ndarray
-        
-        Applies the rectification specified by camera parameters
-        :math:`K` and and :math:`D` to point (u, v) and returns the
-        pixel coordinates of the rectified point.
-        """
-        return self.rectify_point(uv_raw)
-
-    @deprecated(version="J-turtle", reason="The rotationMatrix()->numpy.matrix method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the rotation_matrix()->numpy.ndarray method instead.")
-    def rotationMatrix(self)->numpy.matrix:
-        """ 
-        .. warning::
-            The rotationMatrix()->numpy.matrix method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the rotation_matrix()->numpy.ndarray method instead.
-        
-        :rtype:                 numpy.matrix
-
-        Returns :math:`R` 
-        """
-        return np.matrix(self.rotation_matrix(), dtype='float64')
-
-    @deprecated(version="J-turtle", reason="The tfFrame() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_tf_frame() method instead.")
-    def tfFrame(self)->str:
-        """ 
-        .. warning::
-            The tfFrame() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_tf_frame() method instead.
-
-        :rtype:                 str      
-        
-        Returns the tf frame name - a string - of the camera.
-        This is the frame of the :class:`sensor_msgs.msg.CameraInfo` message.
-        """
-        return self.get_tf_frame()
-
-    @deprecated(version="J-turtle", reason="The Tx() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the tx() method instead.")
-    def Tx(self)->float:
-        """ 
-        .. warning::
-            The Tx() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the tx() method instead.
-        
-        :rtype:                 float      
-
-        Return the x-translation term of the projection matrix 
-        """
-        return self.tx()
-
-    @deprecated(version="J-turtle", reason="The Ty() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the ty() method instead.")
-    def Ty(self)->float:
-        """ 
-        .. warning::
-            The Ty() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the ty() method instead.
-        
-        :rtype:                 float      
-        
-        Return the y-translation term of the projection matrix 
-        """
-        return self.ty()
-
-
-
 
 class StereoCameraModel:
     """
@@ -885,130 +471,3 @@ def get_right_camera(self)->PinholeCameraModel:
         Returns the PinholeCameraModel object of the right camera
         """
         return self._right
-    
-    # Deprecated members planned for removal in K-turtle
-    # --------------------------------------------------
-    @property
-    @deprecated(version="J-turtle", reason="The left property is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_left_camera() method.")
-    def left(self):
-        """ 
-        .. warning::
-            The left property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.
-        """
-        return self._left
-
-    @property
-    @deprecated(version="J-turtle", reason="The right property is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_right_camera() method.")
-    def right(self):
-        """ 
-        .. warning::
-            The right property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.
-        """
-        return self._right
-
-    @property
-    @deprecated(version="J-turtle", reason="The Q property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.")
-    def Q(self):
-        """ 
-        .. warning::
-            The Q property is deprecated as of J-turtle, and will be removed in K-turtle. It is not meant to be an exposed member.
-        """
-        return self._q
-
-    @deprecated(version="J-turtle", reason="The fromCameraInfo() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the from_camera_info() method instead.")
-    def fromCameraInfo(self, left_msg, right_msg):
-        """
-        .. warning::
-            The fromCameraInfo() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the from_camera_info() method instead.
-        
-        :param left_msg: left camera parameters
-        :type left_msg:  sensor_msgs.msg.CameraInfo
-        :param right_msg: right camera parameters
-        :type right_msg:  sensor_msgs.msg.CameraInfo
-
-        Set the camera parameters from the :class:`sensor_msgs.msg.CameraInfo` messages.
-        """
-
-        self.from_camera_info(left_msg,right_msg)
-
-    @deprecated(version="J-turtle", reason="The getDisparity() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_disparity() method instead.")
-    def getDisparity(self, Z)->float:
-        """
-        .. warning::
-            The getDisparity() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_disparity() method instead.
-        
-        :param Z:          Z (depth), in cartesian space
-        :type Z:           float
-        :rtype:            float
-
-        Returns the disparity observed for a point at depth Z.
-        This is the inverse of :math:`getZ`.
-        """
-        return self.get_disparity(Z)
-    
-    @deprecated(version="J-turtle", reason="The getZ() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_z() method instead.")
-    def getZ(self, disparity)->float:
-        """
-        .. warning::
-            The getZ() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_z() method instead.
-        
-        :param disparity:        disparity, in pixels
-        :type disparity:         float
-        :rtype:                  float
-
-        Returns the depth at which a point is observed with a given disparity.
-        This is the inverse of :math:`getDisparity`.
-
-        Note that a disparity of zero implies Z is infinite.
-        """
-        return self.get_z(disparity)
-
-    @deprecated(version="J-turtle", reason="The project3dToPixel() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the project_3d_to_pixel() method instead.")
-    def project3dToPixel(self, point)->tuple[tuple[float,float],tuple[float,float]]:
-        """
-        .. warning::
-            The project3dToPixel() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the project_3d_to_pixel() method instead.
-
-        :param point:     3D point
-        :type point:      (x, y, z)
-        :rtype:           tuple[tuple[float,float],tuple[float,float]]
-        
-        Returns the rectified pixel coordinates (u, v) of the 3D point, for each camera, as ((u_left, v_left), (u_right, v_right))
-        using the cameras' :math:`P` matrices.
-        This is the inverse of :math:`projectPixelTo3d`.
-        """
-        return self.project_3d_to_pixel(point)
-
-    @deprecated(version="J-turtle", reason="The projectPixelTo3d() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the project_pixel_to_3d() method instead.")
-    def projectPixelTo3d(self, left_uv, disparity)->tuple[float,float,float]:
-        """
-        .. warning::
-            The projectPixelTo3d() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the project_pixel_to_3d() method instead.
-        
-        :param left_uv:        rectified pixel coordinates
-        :type left_uv:         (u, v)
-        :param disparity:      disparity, in pixels
-        :type disparity:       float
-        :rtype:                tuple[float,float,float] 
-
-        Returns the 3D point (x, y, z) for the given pixel position,
-        using the cameras' :math:`P` matrices.
-        This is the inverse of :math:`project3dToPixel`.
-
-        Note that a disparity of zero implies that the 3D point is at infinity.
-        """
-        return self.project_pixel_to_3d(left_uv,disparity)
-
-    @deprecated(version="J-turtle", reason="The tfFrame() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the tf_frame() method instead.")
-    def tfFrame(self)->str:
-        """ 
-        .. warning::
-            The tfFrame() method is deprecated as of J-turtle, and will be removed in K-turtle. Please use the get_tf_frame() method instead.
-        
-        :rtype:                 str      
-        
-        Returns the tf frame name - a string - of the camera.
-        This is the frame of the :class:`sensor_msgs.msg.CameraInfo` message.
-        """
-        return self.get_tf_frame()
-
diff --git a/image_geometry/package.xml b/image_geometry/package.xml
index 652c9c24..2cd8b53a 100644
--- a/image_geometry/package.xml
+++ b/image_geometry/package.xml
@@ -21,7 +21,6 @@
 
   <depend>libopencv-dev</depend>
   <depend>sensor_msgs</depend>
-  <depend>python3-deprecated</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
diff --git a/image_geometry/test/directed.py b/image_geometry/test/directed.py
index a7f43395..baaa458f 100644
--- a/image_geometry/test/directed.py
+++ b/image_geometry/test/directed.py
@@ -84,9 +84,6 @@ def test_rectify_image(self):
 
         self.cam.get_left_camera().rectify_image(raw, rectified)
         assert_almost_equal(expected, rectified[56,47])
-        with self.assertWarns(DeprecationWarning):
-            self.cam.get_left_camera().rectifyImage(raw,rectified)
-            assert_almost_equal(expected, rectified[56,47])
 
 
     def test_rectify_point(self):
@@ -94,27 +91,18 @@ def test_rectify_point(self):
         expected = [48.16447369,45.49210841]
         actual = self.cam.get_left_camera().rectify_point(uv_raw)
         assert_almost_equal(expected,actual,3)
-        with self.assertWarns(DeprecationWarning):
-            deprecated = self.cam.get_left_camera().rectifyPoint(uv_raw)
-            assert_almost_equal(expected, deprecated, 3)
 
     def test_project_3d_to_pixel(self):
         point = (1.0, 2.0, 3.0)
         expected = [384.069,420.319]
         actual = self.cam.get_left_camera().project_3d_to_pixel(point)
         assert_almost_equal(expected,actual,3)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().project3dToPixel(point)
-            assert_almost_equal(expected,actual,3)
 
     def test_project_pixel_to_3d_ray(self):
         uv = (1.0, 2.0)
         expected = [-0.61,-0.475,0.634]
         actual = self.cam.get_left_camera().project_pixel_to_3d_ray(uv)
         assert_almost_equal(expected,actual,3)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().projectPixelTo3dRay(uv)
-            assert_almost_equal(expected,actual,3)
 
     def test_get_delta_u(self):
         delta_x = 1.0
@@ -122,9 +110,6 @@ def test_get_delta_u(self):
         expected = 147.767
         actual = self.cam.get_left_camera().get_delta_u(delta_x,z)
         assert_almost_equal(expected,actual,3)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().getDeltaU(delta_x,z)
-            assert_almost_equal(expected,actual,3)
 
     def test_get_delta_v(self):
         delta_y = 1.0
@@ -132,9 +117,6 @@ def test_get_delta_v(self):
         expected = 147.767
         actual = self.cam.get_left_camera().get_delta_v(delta_y,z)
         assert_almost_equal(expected,actual,3)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().getDeltaV(delta_y,z)
-            assert_almost_equal(expected,actual,3)
 
     def test_get_delta_x(self):
         delta_u = 1.0
@@ -142,9 +124,6 @@ def test_get_delta_x(self):
         expected = 0.00676741
         actual = self.cam.get_left_camera().get_delta_x(delta_u,z)
         assert_almost_equal(expected,actual,6)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().getDeltaX(delta_u,z)
-            assert_almost_equal(expected,actual,6)
 
     def test_get_delta_y(self):
         delta_v = 1.0
@@ -152,17 +131,11 @@ def test_get_delta_y(self):
         expected = 0.00676741
         actual = self.cam.get_left_camera().get_delta_y(delta_v,z)
         assert_almost_equal(expected,actual,6)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().getDeltaY(delta_v,z)
-            assert_almost_equal(expected,actual,6)
 
     def test_full_resolution(self):
         expected = (640,480)
         actual = self.cam.get_left_camera().full_resolution()
         self.assertTupleEqual(expected,actual)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().fullResolution()
-            self.assertTupleEqual(expected,actual)
 
     def test_intrinsic_matrix(self):
         expected = [[430.15433 ,   0.      , 311.713398],
@@ -170,9 +143,6 @@ def test_intrinsic_matrix(self):
                     [  0.      ,   0.      ,   1.      ]]
         actual = self.cam.get_left_camera().intrinsic_matrix()
         assert_almost_equal(expected,actual,6)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().intrinsicMatrix()
-            assert_almost_equal(expected,actual,6)
 
     def test_distortion_coeffs(self):
         expected = [[-3.63528858e-01],
@@ -182,9 +152,6 @@ def test_distortion_coeffs(self):
                     [ 0.00000000e+00]]
         actual = self.cam.get_left_camera().distortion_coeffs()
         assert_almost_equal(expected,actual,6)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().distortionCoeffs()
-            assert_almost_equal(expected,actual,6)
 
     def test_rotation_matrix(self):
         expected = [[ 0.998066,  0.006856,  0.06179 ],
@@ -192,9 +159,6 @@ def test_rotation_matrix(self):
                     [-0.061802,  0.00147 ,  0.998087]]
         actual = self.cam.get_left_camera().rotation_matrix()
         assert_almost_equal(expected,actual,6)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().rotationMatrix()
-            assert_almost_equal(expected,actual,6)
 
     def test_projection_matrix(self):
         expected = [[295.534021,   0.      , 285.557608,   0.      ],
@@ -202,9 +166,6 @@ def test_projection_matrix(self):
                     [  0.      ,   0.      ,   1.      ,   0.      ]]
         actual = self.cam.get_left_camera().projection_matrix()
         assert_almost_equal(expected,actual,6)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().projectionMatrix()
-            assert_almost_equal(expected,actual,6)
 
     def test_full_intrinsic_matrix(self):
         expected = [[430.15433 ,   0.      , 311.713398],
@@ -212,9 +173,6 @@ def test_full_intrinsic_matrix(self):
                     [  0.      ,   0.      ,   1.      ]]
         actual = self.cam.get_left_camera().full_intrinsic_matrix()
         assert_almost_equal(expected,actual,6)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().fullIntrinsicMatrix()
-            assert_almost_equal(expected,actual,6)
 
     def test_full_projection_matrix(self):
         expected = [[295.534021,   0.      , 285.557608,   0.      ],
@@ -222,9 +180,6 @@ def test_full_projection_matrix(self):
                     [  0.      ,   0.      ,   1.      ,   0.      ]]
         actual = self.cam.get_left_camera().full_projection_matrix()
         assert_almost_equal(expected,actual,6)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().fullProjectionMatrix()
-            assert_almost_equal(expected,actual,6)
 
     def test_cx(self):
         expected = 285.557607
@@ -249,47 +204,29 @@ def test_fy(self):
     def test_tx(self):
         expected = 0.0
         actual = self.cam.get_left_camera().tx()
-        assert_almost_equal(expected,actual,6)   
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().Tx()
-            assert_almost_equal(expected,actual,6)   
+        assert_almost_equal(expected,actual,6)  
 
     def test_ty(self):
         expected = 0.0
         actual = self.cam.get_left_camera().ty()
         assert_almost_equal(expected,actual,6)   
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().Ty()
-            assert_almost_equal(expected,actual,6)   
 
     def test_fov_x(self):
         expected = 1.6502496354
         actual = self.cam.get_left_camera().fov_x()
-        assert_almost_equal(expected,actual,6)   
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().fovX()
-            assert_almost_equal(expected,actual,6)   
+        assert_almost_equal(expected,actual,6)  
 
     def test_fov_y(self):
         expected = 1.364138172
         actual = self.cam.get_left_camera().fov_y()
-        assert_almost_equal(expected,actual,6)   
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().fovY()
-            assert_almost_equal(expected,actual,6)   
+        assert_almost_equal(expected,actual,6)  
 
     def test_get_tf_frame(self):
         expected = "left_camera"
         actual = self.cam.get_left_camera().get_tf_frame()
-        self.assertEqual(expected,actual)   
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.get_left_camera().tfFrame()
-            self.assertEqual(expected,actual)
+        self.assertEqual(expected,actual)
         actual = self.cam.get_tf_frame()
         self.assertEqual(expected,actual)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.tfFrame()
-            self.assertEqual(expected,actual)
 
 
     def test_stereo_project_3d_to_pixel(self):
@@ -297,9 +234,6 @@ def test_stereo_project_3d_to_pixel(self):
         expected = (self.cam.get_left_camera().project_3d_to_pixel(point), self.cam.get_right_camera().project_3d_to_pixel(point))
         actual = self.cam.project_3d_to_pixel(point)
         assert_almost_equal(expected, actual, 6)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.project3dToPixel(point)
-            assert_almost_equal(expected, actual, 6)
 
     def test_stereo_project_pixel_to_3d(self):
         left_uv = (1.0,2.0)
@@ -307,66 +241,18 @@ def test_stereo_project_pixel_to_3d(self):
         expected = [-22.71975 , -17.668808,  23.596132]
         actual = self.cam.project_pixel_to_3d(left_uv, disparity)
         assert_almost_equal(expected, actual, 6)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.projectPixelTo3d(left_uv, disparity)
-            assert_almost_equal(expected, actual, 6)
 
     def test_stereo_get_z(self):
         disparity = 1.1234
         expected = 23.59613246
         actual = self.cam.get_z(disparity)
         assert_almost_equal(expected, actual, 6)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.getZ(disparity)
-            assert_almost_equal(expected, actual, 6)
 
     def test_stereo_get_disparity(self):
         z = 23.59613246
         expected = 1.1234
         actual = self.cam.get_disparity(z)
         assert_almost_equal(expected, actual, 6)
-        with self.assertWarns(DeprecationWarning):
-            actual = self.cam.getDisparity(z)
-            assert_almost_equal(expected, actual, 6)
-
-    def test_deprecation(self):
-        pinholeCam = self.cam.get_left_camera()
-        with self.assertWarns(DeprecationWarning):
-            self.cam.get_left_camera().fromCameraInfo(self.lmsg)
-        with self.assertWarns(DeprecationWarning):
-            self.cam.fromCameraInfo(self.lmsg, self.rmsg)
-        with self.assertWarns(DeprecationWarning):
-            assert_almost_equal(pinholeCam.K, pinholeCam._k)
-        with self.assertWarns(DeprecationWarning):
-            assert_almost_equal(pinholeCam.D, pinholeCam._d)
-        with self.assertWarns(DeprecationWarning):
-            assert_almost_equal(pinholeCam.R, pinholeCam._r)
-        with self.assertWarns(DeprecationWarning):
-            assert_almost_equal(pinholeCam.P, pinholeCam._p)
-        with self.assertWarns(DeprecationWarning):
-            assert_almost_equal(pinholeCam.full_K, pinholeCam._full_k)
-        with self.assertWarns(DeprecationWarning):
-            assert_almost_equal(pinholeCam.full_P, pinholeCam._full_p)
-        with self.assertWarns(DeprecationWarning):
-            self.assertEqual(pinholeCam.width, pinholeCam._width)
-        with self.assertWarns(DeprecationWarning):
-            self.assertEqual(pinholeCam.height, pinholeCam._height)
-        with self.assertWarns(DeprecationWarning):
-            self.assertEqual(pinholeCam.binning_x, pinholeCam._binning_x)
-        with self.assertWarns(DeprecationWarning):
-            self.assertEqual(pinholeCam.binning_y, pinholeCam._binning_y)
-        with self.assertWarns(DeprecationWarning):
-            self.assertEqual(pinholeCam.raw_roi, pinholeCam._raw_roi)
-        with self.assertWarns(DeprecationWarning):
-            self.assertEqual(pinholeCam.tf_frame, pinholeCam._tf_frame)
-        with self.assertWarns(DeprecationWarning):
-            self.assertEqual(pinholeCam.stamp, pinholeCam._stamp)
-        with self.assertWarns(DeprecationWarning):
-            self.assertIs(self.cam.left, self.cam.get_left_camera())
-        with self.assertWarns(DeprecationWarning):
-            self.assertEqual(self.cam.right, self.cam.get_right_camera())
-        with self.assertWarns(DeprecationWarning):
-            assert_almost_equal(self.cam.Q, self.cam._q)