diff --git a/gtsam/geometry/tests/testCal3Bundler.cpp b/gtsam/geometry/tests/testCal3Bundler.cpp
index eac8d1044..8e6fe983f 100644
--- a/gtsam/geometry/tests/testCal3Bundler.cpp
+++ b/gtsam/geometry/tests/testCal3Bundler.cpp
@@ -93,6 +93,9 @@ TEST(Cal3Bundler, retract) {
   Cal3Bundler expected(510, 2e-3, 2e-3, 1000, 2000);
   EXPECT_LONGS_EQUAL(3, expected.dim());
 
+  EXPECT_LONGS_EQUAL(Cal3Bundler::Dim(), 3);
+  EXPECT_LONGS_EQUAL(expected.dim(), 3);
+
   Vector3 d;
   d << 10, 1e-3, 1e-3;
   Cal3Bundler actual = K.retract(d);
diff --git a/gtsam/geometry/tests/testCal3DFisheye.cpp b/gtsam/geometry/tests/testCal3DFisheye.cpp
index 85e661728..7a73e7490 100644
--- a/gtsam/geometry/tests/testCal3DFisheye.cpp
+++ b/gtsam/geometry/tests/testCal3DFisheye.cpp
@@ -42,7 +42,11 @@ TEST(Cal3Fisheye, retract) {
   Cal3Fisheye expected(K.fx() + 1, K.fy() + 2, K.skew() + 3, K.px() + 4,
                        K.py() + 5, K.k1() + 6, K.k2() + 7, K.k3() + 8,
                        K.k4() + 9);
-  Vector d(9);
+
+  EXPECT_LONGS_EQUAL(Cal3Fisheye::Dim(), 9);
+  EXPECT_LONGS_EQUAL(expected.dim(), 9);
+
+  Vector9 d;
   d << 1, 2, 3, 4, 5, 6, 7, 8, 9;
   Cal3Fisheye actual = K.retract(d);
   CHECK(assert_equal(expected, actual, 1e-7));
diff --git a/gtsam/geometry/tests/testCal3DS2.cpp b/gtsam/geometry/tests/testCal3DS2.cpp
index b382e85f3..e4dc3e806 100644
--- a/gtsam/geometry/tests/testCal3DS2.cpp
+++ b/gtsam/geometry/tests/testCal3DS2.cpp
@@ -96,11 +96,14 @@ TEST(Cal3DS2, Dcalibrate)
 TEST(Cal3DS2, assert_equal) { CHECK(assert_equal(K, K, 1e-5)); }
 
 /* ************************************************************************* */
-TEST(Cal3DS2, retract)
-{
+TEST(Cal3DS2, retract) {
   Cal3DS2 expected(500 + 1, 100 + 2, 0.1 + 3, 320 + 4, 240 + 5, 1e-3 + 6,
       2.0 * 1e-3 + 7, 3.0 * 1e-3 + 8, 4.0 * 1e-3 + 9);
-  Vector d(9);
+
+  EXPECT_LONGS_EQUAL(Cal3DS2::Dim(), 9);
+  EXPECT_LONGS_EQUAL(expected.dim(), 9);
+
+  Vector9 d;
   d << 1,2,3,4,5,6,7,8,9;
   Cal3DS2 actual = K.retract(d);
   CHECK(assert_equal(expected,actual,1e-7));
diff --git a/gtsam/geometry/tests/testCal3Unified.cpp b/gtsam/geometry/tests/testCal3Unified.cpp
index 41a1d3ad9..ff759d1cd 100644
--- a/gtsam/geometry/tests/testCal3Unified.cpp
+++ b/gtsam/geometry/tests/testCal3Unified.cpp
@@ -106,11 +106,14 @@ TEST(Cal3Unified, assert_equal)
 }
 
 /* ************************************************************************* */
-TEST(Cal3Unified, retract)
-{
+TEST(Cal3Unified, retract) {
   Cal3Unified expected(100 + 2, 105 + 3, 0.0 + 4, 320 + 5, 240 + 6,
       1e-3 + 7, 2.0*1e-3 + 8, 3.0*1e-3 + 9, 4.0*1e-3 + 10, 0.1 + 1);
-  Vector d(10);
+
+  EXPECT_LONGS_EQUAL(Cal3Unified::Dim(), 10);
+  EXPECT_LONGS_EQUAL(expected.dim(), 10);
+
+  Vector10 d;
   d << 2, 3, 4, 5, 6, 7, 8, 9, 10, 1;
   Cal3Unified actual = K.retract(d);
   CHECK(assert_equal(expected,actual,1e-9));
diff --git a/gtsam/geometry/tests/testCal3_S2.cpp b/gtsam/geometry/tests/testCal3_S2.cpp
index 3317addff..9b7941c91 100644
--- a/gtsam/geometry/tests/testCal3_S2.cpp
+++ b/gtsam/geometry/tests/testCal3_S2.cpp
@@ -31,8 +31,7 @@ static Point2 p_uv(1320.3, 1740);
 static Point2 p_xy(2, 3);
 
 /* ************************************************************************* */
-TEST(Cal3_S2, easy_constructor)
-{
+TEST(Cal3_S2, Constructor) {
   Cal3_S2 expected(554.256, 554.256, 0, 640 / 2, 480 / 2);
 
   double fov = 60; // degrees
@@ -43,8 +42,7 @@ TEST(Cal3_S2, easy_constructor)
 }
 
 /* ************************************************************************* */
-TEST(Cal3_S2, calibrate)
-{
+TEST(Cal3_S2, Calibrate) {
   Point2 intrinsic(2,3);
   Point2 expectedimage(1320.3, 1740);
   Point2 imagecoordinates = K.uncalibrate(intrinsic);
@@ -53,33 +51,36 @@ TEST(Cal3_S2, calibrate)
 }
 
 /* ************************************************************************* */
-TEST(Cal3_S2, calibrate_homogeneous) {
+TEST(Cal3_S2, CalibrateHomogeneous) {
   Vector3 intrinsic(2, 3, 1);
   Vector3 image(1320.3, 1740, 1);
   CHECK(assert_equal((Vector)intrinsic,(Vector)K.calibrate(image)));
 }
 
 /* ************************************************************************* */
-Point2 uncalibrate_(const Cal3_S2& k, const Point2& pt) { return k.uncalibrate(pt); }
-TEST(Cal3_S2, Duncalibrate1)
-{
+Point2 uncalibrate_(const Cal3_S2& k, const Point2& pt) {
+  return k.uncalibrate(pt);
+}
+
+TEST(Cal3_S2, Duncalibrate1) {
   Matrix25 computed; K.uncalibrate(p, computed, boost::none);
   Matrix numerical = numericalDerivative21(uncalibrate_, K, p);
   CHECK(assert_equal(numerical,computed,1e-8));
 }
 
 /* ************************************************************************* */
-TEST(Cal3_S2, Duncalibrate2)
-{
+TEST(Cal3_S2, Duncalibrate2) {
   Matrix computed; K.uncalibrate(p, boost::none, computed);
   Matrix numerical = numericalDerivative22(uncalibrate_, K, p);
   CHECK(assert_equal(numerical,computed,1e-9));
 }
 
-Point2 calibrate_(const Cal3_S2& k,  const Point2& pt) {return k.calibrate(pt); }
+Point2 calibrate_(const Cal3_S2& k, const Point2& pt) {
+  return k.calibrate(pt);
+}
+
 /* ************************************************************************* */
-TEST(Cal3_S2, Dcalibrate1)
-{
+TEST(Cal3_S2, Dcalibrate1) {
     Matrix computed;
     Point2 expected = K.calibrate(p_uv, computed, boost::none);
     Matrix numerical = numericalDerivative21(calibrate_, K, p_uv);
@@ -88,8 +89,7 @@ TEST(Cal3_S2, Dcalibrate1)
 }
 
 /* ************************************************************************* */
-TEST(Cal3_S2, Dcalibrate2)
-{
+TEST(Cal3_S2, Dcalibrate2) {
     Matrix computed;
     Point2 expected = K.calibrate(p_uv, boost::none, computed);
     Matrix numerical = numericalDerivative22(calibrate_, K, p_uv);
@@ -98,8 +98,7 @@ TEST(Cal3_S2, Dcalibrate2)
 }
 
 /* ************************************************************************* */
-TEST(Cal3_S2, assert_equal)
-{
+TEST(Cal3_S2, Equal) {
   CHECK(assert_equal(K,K,1e-9));
 
   Cal3_S2 K1(500, 500, 0.1, 640 / 2, 480 / 2);
@@ -107,10 +106,13 @@ TEST(Cal3_S2, assert_equal)
 }
 
 /* ************************************************************************* */
-TEST(Cal3_S2, retract)
-{
+TEST(Cal3_S2, Retract) {
   Cal3_S2 expected(500+1, 500+2, 0.1+3, 640 / 2+4, 480 / 2+5);
-  Vector d(5);
+
+  EXPECT_LONGS_EQUAL(Cal3_S2::Dim(), 5);
+  EXPECT_LONGS_EQUAL(expected.dim(), 5);
+
+  Vector5 d;
   d << 1,2,3,4,5;
   Cal3_S2 actual = K.retract(d);
   CHECK(assert_equal(expected,actual,1e-7));
diff --git a/gtsam/geometry/tests/testCal3_S2Stereo.cpp b/gtsam/geometry/tests/testCal3_S2Stereo.cpp
index 9c93b7496..f823a8b97 100644
--- a/gtsam/geometry/tests/testCal3_S2Stereo.cpp
+++ b/gtsam/geometry/tests/testCal3_S2Stereo.cpp
@@ -111,6 +111,9 @@ TEST(Cal3_S2Stereo, assert_equal) {
 TEST(Cal3_S2Stereo, retract) {
   Cal3_S2Stereo expected(500 + 1, 500 + 2, 0.1 + 3, 640 / 2 + 4, 480 / 2 + 5,
                          7);
+  EXPECT_LONGS_EQUAL(Cal3_S2Stereo::Dim(), 6);
+  EXPECT_LONGS_EQUAL(expected.dim(), 6);
+
   Vector6 d;
   d << 1, 2, 3, 4, 5, 6;
   Cal3_S2Stereo actual = K.retract(d);