From de170d5f3a4767fc2673c8439986ce9314c7987f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 Mar 2020 07:53:40 -0400
Subject: [PATCH] use enum dimension for camera DoF

---
 gtsam/geometry/Cal3DS2.h          | 10 +++-------
 gtsam/geometry/Cal3Unified.h      |  7 +++----
 gtsam/geometry/Cal3_S2.h          | 11 +++--------
 gtsam/geometry/Cal3_S2Stereo.h    | 11 +++--------
 gtsam/geometry/CalibratedCamera.h | 10 +++-------
 5 files changed, 15 insertions(+), 34 deletions(-)

diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h
index d4461f23f..3e62f758d 100644
--- a/gtsam/geometry/Cal3DS2.h
+++ b/gtsam/geometry/Cal3DS2.h
@@ -33,13 +33,9 @@ class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
 
   typedef Cal3DS2_Base Base;
 
-private:
-
-  static const size_t dimension_ = 9;
-
 public:
 
-  enum { dimension = dimension_ };
+  enum { dimension = 9 };
 
   /// @name Standard Constructors
   /// @{
@@ -80,10 +76,10 @@ public:
   Vector localCoordinates(const Cal3DS2& T2) const ;
 
   /// Return dimensions of calibration manifold object
-  virtual size_t dim() const { return dimension_ ; }
+  virtual size_t dim() const { return dimension ; }
 
   /// Return dimensions of calibration manifold object
-  static size_t Dim() { return dimension_; }
+  static size_t Dim() { return dimension; }
 
   /// @}
   /// @name Clone
diff --git a/gtsam/geometry/Cal3Unified.h b/gtsam/geometry/Cal3Unified.h
index 4feba996a..ae75c3916 100644
--- a/gtsam/geometry/Cal3Unified.h
+++ b/gtsam/geometry/Cal3Unified.h
@@ -47,11 +47,10 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base {
 private:
 
   double xi_;  // mirror parameter
-  static const size_t dimension_ = 10;
 
 public:
 
-  enum { dimension = dimension_ };
+  enum { dimension = 10 };
 
   /// @name Standard Constructors
   /// @{
@@ -119,10 +118,10 @@ public:
   Vector10 localCoordinates(const Cal3Unified& T2) const ;
 
   /// Return dimensions of calibration manifold object
-  virtual size_t dim() const { return dimension_ ; }
+  virtual size_t dim() const { return dimension ; }
 
   /// Return dimensions of calibration manifold object
-  static size_t Dim() { return dimension_; }
+  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 fdf3b7d28..f2848d0a3 100644
--- a/gtsam/geometry/Cal3_S2.h
+++ b/gtsam/geometry/Cal3_S2.h
@@ -33,10 +33,9 @@ namespace gtsam {
 class GTSAM_EXPORT Cal3_S2 {
 private:
   double fx_, fy_, s_, u0_, v0_;
-  static const size_t dimension_ = 5;
 
 public:
-  enum { dimension = dimension_ };
+  enum { dimension = 5 };
   typedef boost::shared_ptr<Cal3_S2> shared_ptr; ///< shared pointer to calibration object
 
   /// @name Standard Constructors
@@ -194,14 +193,10 @@ public:
   /// @{
 
   /// return DOF, dimensionality of tangent space
-  inline size_t dim() const {
-    return dimension_;
-  }
+  inline size_t dim() const { return dimension; }
 
   /// return DOF, dimensionality of tangent space
-  static size_t Dim() {
-    return dimension_;
-  }
+  static size_t Dim() { return dimension; }
 
   /// Given 5-dim tangent vector, create new calibration
   inline Cal3_S2 retract(const Vector& d) const {
diff --git a/gtsam/geometry/Cal3_S2Stereo.h b/gtsam/geometry/Cal3_S2Stereo.h
index fc85d9d36..a6eb41b60 100644
--- a/gtsam/geometry/Cal3_S2Stereo.h
+++ b/gtsam/geometry/Cal3_S2Stereo.h
@@ -32,11 +32,10 @@ namespace gtsam {
 
     Cal3_S2 K_;
     double b_;
-    static const size_t dimension_ = 6;
 
   public:
 
-    enum { dimension = dimension_ };
+    enum { dimension = 6 };
     typedef boost::shared_ptr<Cal3_S2Stereo> shared_ptr;  ///< shared pointer to stereo calibration object
 
     /// @name Standard Constructors
@@ -112,14 +111,10 @@ namespace gtsam {
     /// @{
 
     /// return DOF, dimensionality of tangent space
-    inline size_t dim() const {
-      return dimension_;
-    }
+    inline size_t dim() const { return dimension; }
 
     /// return DOF, dimensionality of tangent space
-    static size_t Dim() {
-      return dimension_;
-    }
+    static size_t Dim() { return dimension; }
 
     /// Given 6-dim tangent vector, create new calibration
     inline Cal3_S2Stereo retract(const Vector& d) const {
diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h
index 2ee5266a7..eff747eb5 100644
--- a/gtsam/geometry/CalibratedCamera.h
+++ b/gtsam/geometry/CalibratedCamera.h
@@ -248,14 +248,10 @@ private:
  */
 class GTSAM_EXPORT CalibratedCamera: public PinholeBase {
 
-private:
-
-  static const size_t dimension_ = 6;
-
 public:
 
   enum {
-    dimension = dimension_
+    dimension = 6
   };
 
   /// @name Standard Constructors
@@ -330,12 +326,12 @@ public:
 
   /// @deprecated
   inline size_t dim() const {
-    return dimension_;
+    return dimension;
   }
 
   /// @deprecated
   inline static size_t Dim() {
-    return dimension_;
+    return dimension;
   }
 
   /// @}