more progress

gtsam/base/LieScalar.h

@@ -30,7 +30,6 @@ namespace gtsam {
    * we can directly add double, Vector, and Matrix into values now, because of
    * gtsam::traits.
    */
-#if 0
   struct GTSAM_EXPORT LieScalar {
 
     enum { dimension = 1 };
@@ -118,35 +117,6 @@ namespace gtsam {
   private:
       double d_;
   };
-#endif
-
-  struct GTSAM_EXPORT LieScalar {
-
-    enum { dimension = 1 };
-
-    /** default constructor */
-    LieScalar() : d_(0.0) {}
-
-    /** wrap a double */
-    /*explicit*/ LieScalar(double d) : d_(d) {}
-
-    /** access the underlying value */
-    double value() const { return d_; }
-
-    /** Automatic conversion to underlying value */
-    operator double() const { return d_; }
-
-    /** print @param name optional string naming the object */
-    void print(const std::string& name="") const;
-
-    /** equality up to tolerance */
-    bool equals(const LieScalar& expected, double tol=1e-5) const {
-      return fabs(expected.d_ - d_) <= tol;
-    }
-
-   private:
-       double d_;
-   };
 
   template<>
   struct traits_x<LieScalar> : public internal::ScalarTraits<LieScalar> {};

gtsam/geometry/PinholeCamera.h

@@ -409,7 +409,7 @@ public:
       *Dcamera << Dcamera_, Eigen::Matrix<double, 1, DimK>::Zero();
     }
     if (Dother) {
-      Dother->resize(1, 6+traits::dimension<CalibrationB>::value);
+      Dother->resize(1, 6+CalibrationB::dimension);
       Dother->setZero();
       Dother->block(0, 0, 1, 6) = Dother_;
     }