From 7c1a795cb461a15a89a3e704273effcfaf87f336 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Thu, 19 Feb 2015 10:54:25 +0100
Subject: [PATCH] Fixed bug in dim (it should be #rows not #columns!) and moved
 to base class

---
 gtsam/slam/SmartFactorBase.h                          | 11 +++++++----
 gtsam/slam/SmartProjectionPoseFactor.h                |  5 -----
 gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h |  5 -----
 3 files changed, 7 insertions(+), 14 deletions(-)

diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h
index f9f1c6e2b..ec5bed1b0 100644
--- a/gtsam/slam/SmartFactorBase.h
+++ b/gtsam/slam/SmartFactorBase.h
@@ -25,10 +25,8 @@
 #include <gtsam/slam/RegularHessianFactor.h>
 
 #include <gtsam/nonlinear/NonlinearFactor.h>
-#include <gtsam/geometry/PinholeCamera.h>  // for Cheirality exception
-#include <gtsam/geometry/StereoCamera.h>
-#include <gtsam/geometry/Pose3.h>
-#include <gtsam/inference/Symbol.h>
+#include <gtsam/geometry/Point3.h>
+#include <gtsam/geometry/CalibratedCamera.h> // for Cheirality exception
 
 #include <boost/optional.hpp>
 #include <boost/make_shared.hpp>
@@ -150,6 +148,11 @@ public:
     }
   }
 
+  /// get the dimension (number of rows!) of the factor
+  virtual size_t dim() const {
+    return ZDim * this->measured_.size();
+  }
+
   /** return the measurements */
   const std::vector<Z>& measured() const {
     return measured_;
diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h
index 0801d141f..ac0951e87 100644
--- a/gtsam/slam/SmartProjectionPoseFactor.h
+++ b/gtsam/slam/SmartProjectionPoseFactor.h
@@ -141,11 +141,6 @@ public:
     return e && Base::equals(p, tol);
   }
 
-  /// get the dimension of the factor
-  virtual size_t dim() const {
-    return 6 * this->keys_.size();
-  }
-
   /**
    * Collect all cameras involved in this factor
    * @param values Values structure which must contain camera poses corresponding
diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
index 2e3bc866b..6a6d55988 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
@@ -143,11 +143,6 @@ public:
     return e && Base::equals(p, tol);
   }
 
-  /// get the dimension of the factor
-  virtual size_t dim() const {
-    return 6 * this->keys_.size();
-  }
-
   /**
    * Collect all cameras involved in this factor
    * @param values Values structure which must contain camera poses corresponding