From 3f8209de21d465b8cd072b9808f47fbbaf6f9fff Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 17 Mar 2020 15:20:22 -0400
Subject: [PATCH] set dimension of calibration classes with static const
 variable

---
 gtsam/geometry/Cal3DS2.h          | 10 +++++++---
 gtsam/geometry/Cal3Unified.h      |  7 ++++---
 gtsam/geometry/Cal3_S2.h          |  7 ++++---
 gtsam/geometry/Cal3_S2Stereo.h    |  7 ++++---
 gtsam/geometry/CalibratedCamera.h | 10 +++++++---
 5 files changed, 26 insertions(+), 15 deletions(-)

diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h
index 4009a1921..d4461f23f 100644
--- a/gtsam/geometry/Cal3DS2.h
+++ b/gtsam/geometry/Cal3DS2.h
@@ -33,9 +33,13 @@ class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
 
   typedef Cal3DS2_Base Base;
 
+private:
+
+  static const size_t dimension_ = 9;
+
 public:
 
-  enum { dimension = 9 };
+  enum { dimension = dimension_ };
 
   /// @name Standard Constructors
   /// @{
@@ -76,10 +80,10 @@ public:
   Vector localCoordinates(const Cal3DS2& T2) const ;
 
   /// Return dimensions of calibration manifold object
-  virtual size_t dim() const { return 9 ; } //TODO: make a final dimension variable (also, usually size_t in other classes e.g. Pose2)
+  virtual size_t dim() const { return dimension_ ; }
 
   /// Return dimensions of calibration manifold object
-  static size_t Dim() { return 9; }  //TODO: make a final dimension variable
+  static size_t Dim() { return dimension_; }
 
   /// @}
   /// @name Clone
diff --git a/gtsam/geometry/Cal3Unified.h b/gtsam/geometry/Cal3Unified.h
index 9982cec47..4feba996a 100644
--- a/gtsam/geometry/Cal3Unified.h
+++ b/gtsam/geometry/Cal3Unified.h
@@ -47,10 +47,11 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base {
 private:
 
   double xi_;  // mirror parameter
+  static const size_t dimension_ = 10;
 
 public:
 
-  enum { dimension = 10 };
+  enum { dimension = dimension_ };
 
   /// @name Standard Constructors
   /// @{
@@ -118,10 +119,10 @@ public:
   Vector10 localCoordinates(const Cal3Unified& T2) const ;
 
   /// Return dimensions of calibration manifold object
-  virtual size_t dim() const { return 10 ; } //TODO: make a final dimension variable (also, usually size_t in other classes e.g. Pose2)
+  virtual size_t dim() const { return dimension_ ; }
 
   /// Return dimensions of calibration manifold object
-  static size_t Dim() { return 10; }  //TODO: make a final dimension variable
+  static size_t Dim() { return dimension_; }
 
   /// Return all parameters as a vector
   Vector10 vector() const ;
diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h
index 747f53fe1..fdf3b7d28 100644
--- a/gtsam/geometry/Cal3_S2.h
+++ b/gtsam/geometry/Cal3_S2.h
@@ -33,9 +33,10 @@ namespace gtsam {
 class GTSAM_EXPORT Cal3_S2 {
 private:
   double fx_, fy_, s_, u0_, v0_;
+  static const size_t dimension_ = 5;
 
 public:
-  enum { dimension = 5 };
+  enum { dimension = dimension_ };
   typedef boost::shared_ptr<Cal3_S2> shared_ptr; ///< shared pointer to calibration object
 
   /// @name Standard Constructors
@@ -194,12 +195,12 @@ public:
 
   /// return DOF, dimensionality of tangent space
   inline size_t dim() const {
-    return 5;
+    return dimension_;
   }
 
   /// return DOF, dimensionality of tangent space
   static size_t Dim() {
-    return 5;
+    return dimension_;
   }
 
   /// Given 5-dim tangent vector, create new calibration
diff --git a/gtsam/geometry/Cal3_S2Stereo.h b/gtsam/geometry/Cal3_S2Stereo.h
index 51692dc82..fc85d9d36 100644
--- a/gtsam/geometry/Cal3_S2Stereo.h
+++ b/gtsam/geometry/Cal3_S2Stereo.h
@@ -32,10 +32,11 @@ namespace gtsam {
 
     Cal3_S2 K_;
     double b_;
+    static const size_t dimension_ = 6;
 
   public:
 
-    enum { dimension = 6 };
+    enum { dimension = dimension_ };
     typedef boost::shared_ptr<Cal3_S2Stereo> shared_ptr;  ///< shared pointer to stereo calibration object
 
     /// @name Standard Constructors
@@ -112,12 +113,12 @@ namespace gtsam {
 
     /// return DOF, dimensionality of tangent space
     inline size_t dim() const {
-      return 6;
+      return dimension_;
     }
 
     /// return DOF, dimensionality of tangent space
     static size_t Dim() {
-      return 6;
+      return dimension_;
     }
 
     /// Given 6-dim tangent vector, create new calibration
diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h
index 9d9b37d7a..2ee5266a7 100644
--- a/gtsam/geometry/CalibratedCamera.h
+++ b/gtsam/geometry/CalibratedCamera.h
@@ -248,10 +248,14 @@ private:
  */
 class GTSAM_EXPORT CalibratedCamera: public PinholeBase {
 
+private:
+
+  static const size_t dimension_ = 6;
+
 public:
 
   enum {
-    dimension = 6
+    dimension = dimension_
   };
 
   /// @name Standard Constructors
@@ -326,12 +330,12 @@ public:
 
   /// @deprecated
   inline size_t dim() const {
-    return 6;
+    return dimension_;
   }
 
   /// @deprecated
   inline static size_t Dim() {
-    return 6;
+    return dimension_;
   }
 
   /// @}