diff --git a/gtsam/geometry/Cal3.h b/gtsam/geometry/Cal3.h
index 5ce7be8ca..6d3973080 100644
--- a/gtsam/geometry/Cal3.h
+++ b/gtsam/geometry/Cal3.h
@@ -68,7 +68,9 @@ void calibrateJacobians(const Cal& calibration, const Point2& pn,
  */
 class GTSAM_EXPORT Cal3 {
  protected:
-  double fx_, fy_, s_, u0_, v0_;  ///< focal length, skew and principal point
+  double fx_ = 1.0f, fy_ = 1.0f;  ///< focal length
+  double s_ = 0.0f;               ///< skew
+  double u0_ = 0.0f, v0_ = 0.0f;  ///< principal point
 
  public:
   enum { dimension = 5 };
@@ -79,14 +81,14 @@ class GTSAM_EXPORT Cal3 {
   /// @{
 
   /// Create a default calibration that leaves coordinates unchanged
-  Cal3() : fx_(1), fy_(1), s_(0), u0_(0), v0_(0) {}
+  Cal3() = default;
 
   /// constructor from doubles
   Cal3(double fx, double fy, double s, double u0, double v0)
       : fx_(fx), fy_(fy), s_(s), u0_(u0), v0_(v0) {}
 
   /// constructor from vector
-  Cal3(const Vector& d)
+  Cal3(const Vector5& d)
       : fx_(d(0)), fy_(d(1)), s_(d(2)), u0_(d(3)), v0_(d(4)) {}
 
   /**
@@ -162,7 +164,7 @@ class GTSAM_EXPORT Cal3 {
   Matrix3 matrix() const { return K(); }
 #endif
 
-  /// return inverted calibration matrix inv(K)
+  /// Return inverted calibration matrix inv(K)
   Matrix3 matrix_inverse() const {
     const double fxy = fx_ * fy_, sv0 = s_ * v0_, fyu0 = fy_ * u0_;
     Matrix3 K_inverse;
diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h
index dc99f5259..d128c329b 100644
--- a/gtsam/geometry/Cal3Bundler.h
+++ b/gtsam/geometry/Cal3Bundler.h
@@ -31,12 +31,12 @@ namespace gtsam {
 class GTSAM_EXPORT Cal3Bundler : public Cal3 {
 
  private:
-  double f_; ///< focal length
-  double k1_, k2_; ///< radial distortion
-  double tol_; ///< tolerance value when calibrating
+  double f_ = 1.0f;               ///< focal length
+  double k1_ = 0.0f, k2_ = 0.0f;  ///< radial distortion
+  double tol_ = 1e-5;             ///< tolerance value when calibrating
 
   // NOTE: image center parameters (u0, v0) are not optimized
-  // but are constants.
+  // but are treated as constants.
 
  public:
 
@@ -46,7 +46,7 @@ class GTSAM_EXPORT Cal3Bundler : public Cal3 {
   /// @{
 
   /// Default constructor
-  Cal3Bundler() : Cal3(), f_(1), k1_(0), k2_(0), tol_(1e-5) {}
+  Cal3Bundler() = default;
 
   /**
    *  Constructor
diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h
index 58ccae04f..03a4d8d46 100644
--- a/gtsam/geometry/Cal3DS2.h
+++ b/gtsam/geometry/Cal3DS2.h
@@ -42,11 +42,11 @@ public:
   /// @{
 
   /// Default Constructor with only unit focal length
-  Cal3DS2() : Base() {}
+  Cal3DS2() = default;
 
-  Cal3DS2(double fx, double fy, double s, double u0, double v0,
-      double k1, double k2, double p1 = 0.0, double p2 = 0.0, double tol = 1e-5) :
-        Base(fx, fy, s, u0, v0, k1, k2, p1, p2, tol) {}
+  Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1,
+          double k2, double p1 = 0.0, double p2 = 0.0, double tol = 1e-5)
+      : Base(fx, fy, s, u0, v0, k1, k2, p1, p2, tol) {}
 
   virtual ~Cal3DS2() {}
 
@@ -54,7 +54,7 @@ public:
   /// @name Advanced Constructors
   /// @{
 
-  Cal3DS2(const Vector &v) : Base(v) {}
+  Cal3DS2(const Vector9 &v) : Base(v) {}
 
   /// @}
   /// @name Testable
diff --git a/gtsam/geometry/Cal3DS2_Base.h b/gtsam/geometry/Cal3DS2_Base.h
index 0c6a4a3cd..e0de6af61 100644
--- a/gtsam/geometry/Cal3DS2_Base.h
+++ b/gtsam/geometry/Cal3DS2_Base.h
@@ -41,9 +41,9 @@ namespace gtsam {
  */
 class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
  protected:
-  double k1_, k2_;     ///< radial 2nd-order and 4th-order
-  double p1_, p2_;     ///< tangential distortion
-  double tol_ = 1e-5;  ///< tolerance value when calibrating
+  double k1_ = 0.0f, k2_ = 0.0f;  ///< radial 2nd-order and 4th-order
+  double p1_ = 0.0f, p2_ = 0.0f;  ///< tangential distortion
+  double tol_ = 1e-5;             ///< tolerance value when calibrating
 
  public:
   enum { dimension = 9 };
@@ -52,7 +52,7 @@ class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
   /// @{
 
   /// Default Constructor with only unit focal length
-  Cal3DS2_Base() : Cal3(), k1_(0), k2_(0), p1_(0), p2_(0), tol_(1e-5) {}
+  Cal3DS2_Base() = default;
 
   Cal3DS2_Base(double fx, double fy, double s, double u0, double v0, double k1,
                double k2, double p1 = 0.0, double p2 = 0.0, double tol = 1e-5)
@@ -69,7 +69,7 @@ class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
   /// @name Advanced Constructors
   /// @{
 
-  Cal3DS2_Base(const Vector& v)
+  Cal3DS2_Base(const Vector9& v)
       : Cal3(v(0), v(1), v(2), v(3), v(4)),
         k1_(v(5)),
         k2_(v(6)),
diff --git a/gtsam/geometry/Cal3Fisheye.h b/gtsam/geometry/Cal3Fisheye.h
index 3eaf9f46d..f41a9b0d7 100644
--- a/gtsam/geometry/Cal3Fisheye.h
+++ b/gtsam/geometry/Cal3Fisheye.h
@@ -48,8 +48,9 @@ namespace gtsam {
  */
 class GTSAM_EXPORT Cal3Fisheye : public Cal3 {
  private:
-  double k1_, k2_, k3_, k4_;  ///< fisheye distortion coefficients
-  double tol_ = 1e-5;         ///< tolerance value when calibrating
+  double k1_ = 0.0f, k2_ = 0.0f;  ///< fisheye distortion coefficients
+  double k3_ = 0.0f, k4_ = 0.0f;  ///< fisheye distortion coefficients
+  double tol_ = 1e-5;             ///< tolerance value when calibrating
 
  public:
   enum { dimension = 9 };
@@ -60,7 +61,7 @@ class GTSAM_EXPORT Cal3Fisheye : public Cal3 {
   /// @{
 
   /// Default Constructor with only unit focal length
-  Cal3Fisheye() : Cal3(), k1_(0), k2_(0), k3_(0), k4_(0), tol_(1e-5) {}
+  Cal3Fisheye() = default;
 
   Cal3Fisheye(const double fx, const double fy, const double s, const double u0,
               const double v0, const double k1, const double k2,
diff --git a/gtsam/geometry/Cal3Unified.cpp b/gtsam/geometry/Cal3Unified.cpp
index dc963a46e..d260dd725 100644
--- a/gtsam/geometry/Cal3Unified.cpp
+++ b/gtsam/geometry/Cal3Unified.cpp
@@ -25,10 +25,6 @@
 
 namespace gtsam {
 
-/* ************************************************************************* */
-Cal3Unified::Cal3Unified(const Vector& v)
-    : Base(v(0), v(1), v(2), v(3), v(4), v(5), v(6), v(7), v(8)), xi_(v(9)) {}
-
 /* ************************************************************************* */
 Vector10 Cal3Unified::vector() const {
   Vector10 v;
@@ -136,7 +132,7 @@ Cal3Unified Cal3Unified::retract(const Vector& d) const {
 }
 
 /* ************************************************************************* */
-Vector10 Cal3Unified::localCoordinates(const Cal3Unified& T2) const {
+Vector Cal3Unified::localCoordinates(const Cal3Unified& T2) const {
   return T2.vector() - vector();
 }
 
diff --git a/gtsam/geometry/Cal3Unified.h b/gtsam/geometry/Cal3Unified.h
index 673d9e2c9..e1368db4c 100644
--- a/gtsam/geometry/Cal3Unified.h
+++ b/gtsam/geometry/Cal3Unified.h
@@ -45,11 +45,10 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base {
   using This = Cal3Unified;
   using Base = Cal3DS2_Base;
 
-private:
+ private:
+  double xi_ = 0.0f;  ///< mirror parameter
 
-  double xi_;  ///< mirror parameter
-
-public:
+ public:
 
   enum { dimension = 10 };
 
@@ -57,11 +56,11 @@ public:
   /// @{
 
   /// Default Constructor with only unit focal length
-  Cal3Unified() : Base(), xi_(0) {}
+  Cal3Unified() = default;
 
-  Cal3Unified(double fx, double fy, double s, double u0, double v0,
-      double k1, double k2, double p1 = 0.0, double p2 = 0.0, double xi = 0.0) :
-        Base(fx, fy, s, u0, v0, k1, k2, p1, p2), xi_(xi) {}
+  Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1,
+              double k2, double p1 = 0.0, double p2 = 0.0, double xi = 0.0)
+      : Base(fx, fy, s, u0, v0, k1, k2, p1, p2), xi_(xi) {}
 
   virtual ~Cal3Unified() {}
 
@@ -69,7 +68,8 @@ public:
   /// @name Advanced Constructors
   /// @{
 
-  Cal3Unified(const Vector &v) ;
+  Cal3Unified(const Vector10& v)
+      : Base(v(0), v(1), v(2), v(3), v(4), v(5), v(6), v(7), v(8)), xi_(v(9)) {}
 
   /// @}
   /// @name Testable
@@ -88,6 +88,9 @@ public:
   /// mirror parameter
   inline double xi() const { return xi_;}
 
+  /// Return all parameters as a vector
+  Vector10 vector() const ;
+
   /**
    * convert intrinsic coordinates xy to image coordinates uv
    * @param p point in intrinsic coordinates
@@ -117,7 +120,7 @@ public:
   Cal3Unified retract(const Vector& d) const ;
 
   /// Given a different calibration, calculate update to obtain it
-  Vector10 localCoordinates(const Cal3Unified& T2) const ;
+  Vector localCoordinates(const Cal3Unified& T2) const ;
 
   /// Return dimensions of calibration manifold object
   virtual size_t dim() const { return dimension ; }
@@ -125,9 +128,6 @@ public:
   /// Return dimensions of calibration manifold object
   static size_t Dim() { return dimension; }
 
-  /// Return all parameters as a vector
-  Vector10 vector() const ;
-
   /// @}
 
 private:
diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h
index 0a6b0e164..37edc46c4 100644
--- a/gtsam/geometry/Cal3_S2.h
+++ b/gtsam/geometry/Cal3_S2.h
@@ -42,14 +42,14 @@ class GTSAM_EXPORT Cal3_S2 : public Cal3 {
   /// @{
 
   /// Create a default calibration that leaves coordinates unchanged
-  Cal3_S2() : Cal3() {}
+  Cal3_S2() = default;
 
   /// constructor from doubles
   Cal3_S2(double fx, double fy, double s, double u0, double v0)
       : Cal3(fx, fy, s, u0, v0) {}
 
   /// constructor from vector
-  Cal3_S2(const Vector& d) : Cal3(d) {}
+  Cal3_S2(const Vector5& d) : Cal3(d) {}
 
   /**
    * Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect
diff --git a/gtsam/geometry/Cal3_S2Stereo.h b/gtsam/geometry/Cal3_S2Stereo.h
index 585807543..0c68ef6b4 100644
--- a/gtsam/geometry/Cal3_S2Stereo.h
+++ b/gtsam/geometry/Cal3_S2Stereo.h
@@ -29,7 +29,7 @@ namespace gtsam {
    */
   class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 {
    private:
-    double b_;
+    double b_ = 1.0f;  ///< Stereo baseline.
 
    public:
 
@@ -42,7 +42,7 @@ namespace gtsam {
     /// @
 
     /// default calibration leaves coordinates unchanged
-    Cal3_S2Stereo() : Cal3_S2(1, 1, 0, 0, 0), b_(1.0) {}
+    Cal3_S2Stereo() = default;
 
     /// constructor from doubles
     Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0,
@@ -50,7 +50,7 @@ namespace gtsam {
         : Cal3_S2(fx, fy, s, u0, v0), b_(b) {}
 
     /// constructor from vector
-    Cal3_S2Stereo(const Vector& d)
+    Cal3_S2Stereo(const Vector6& d)
         : Cal3_S2(d(0), d(1), d(2), d(3), d(4)), b_(d(5)) {}
 
     /// easy constructor; field-of-view in degrees, assumes zero skew
@@ -61,6 +61,7 @@ namespace gtsam {
     /// @name Testable
     /// @{
 
+    /// print with optional string
     void print(const std::string& s = "") const override;
 
     /// Check if equal up to specified tolerance