diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h
index 8f321d363..dded932e8 100644
--- a/gtsam/geometry/Cal3Bundler.h
+++ b/gtsam/geometry/Cal3Bundler.h
@@ -174,7 +174,7 @@ struct is_manifold<Cal3Bundler> : public std::true_type {
 };
 
 template<>
-struct dimension<Cal3Bundler> : public std::integral_constant<size_t, 3> {
+struct dimension<Cal3Bundler> : public std::integral_constant<int, 3> {
 };
 
 } // namespace gtsam
diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h
index 1ebbcb132..eb3bb3623 100644
--- a/gtsam/geometry/Cal3DS2.h
+++ b/gtsam/geometry/Cal3DS2.h
@@ -173,7 +173,7 @@ struct is_manifold<Cal3DS2> : public std::true_type {
 };
 
 template<>
-struct dimension<Cal3DS2> : public std::integral_constant<size_t, 9> {
+struct dimension<Cal3DS2> : public std::integral_constant<int, 9> {
 };
 }
 
diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h
index 01cc0d916..6f1e75bad 100644
--- a/gtsam/geometry/Cal3_S2.h
+++ b/gtsam/geometry/Cal3_S2.h
@@ -245,7 +245,7 @@ struct is_manifold<Cal3_S2> : public std::true_type {
 };
 
 template<>
-struct dimension<Cal3_S2> : public std::integral_constant<size_t, 5> {
+struct dimension<Cal3_S2> : public std::integral_constant<int, 5> {
 };
 
 
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index d39e42265..02f283224 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -619,7 +619,7 @@ struct is_manifold<PinholeCamera<Calibration> > : public std::true_type {
 
 template<typename Calibration>
 struct dimension<PinholeCamera<Calibration> > : public std::integral_constant<
-    size_t, dimension<Pose3>::value + dimension<Calibration>::value> {
+    int, dimension<Pose3>::value + dimension<Calibration>::value> {
 };
 
 }
diff --git a/gtsam/geometry/Point2.h b/gtsam/geometry/Point2.h
index d6c7e28a2..ffd3c2f80 100644
--- a/gtsam/geometry/Point2.h
+++ b/gtsam/geometry/Point2.h
@@ -255,7 +255,7 @@ struct is_manifold<Point2> : public std::true_type {
 };
 
 template<>
-struct dimension<Point2> : public std::integral_constant<size_t, 2> {
+struct dimension<Point2> : public std::integral_constant<int, 2> {
 };
 
 }
diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h
index 151958476..b333ac1e9 100644
--- a/gtsam/geometry/Point3.h
+++ b/gtsam/geometry/Point3.h
@@ -247,7 +247,7 @@ namespace gtsam {
   };
 
   template<>
-  struct dimension<Point3> : public std::integral_constant<size_t, 3> {
+  struct dimension<Point3> : public std::integral_constant<int, 3> {
   };
 
 }
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index 5be9f11dd..13fa6aba0 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -326,7 +326,7 @@ struct is_manifold<Pose2> : public std::true_type {
 };
 
 template<>
-struct dimension<Pose2> : public std::integral_constant<size_t, 3> {
+struct dimension<Pose2> : public std::integral_constant<int, 3> {
 };
 
 } // namespace gtsam
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index d2ecee4c5..c5013270f 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -359,7 +359,7 @@ struct is_manifold<Pose3> : public std::true_type {
 };
 
 template<>
-struct dimension<Pose3> : public std::integral_constant<size_t, 6> {
+struct dimension<Pose3> : public std::integral_constant<int, 6> {
 };
 
 } // namespace gtsam
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 612c3c47c..eb6078ef2 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -496,7 +496,7 @@ namespace gtsam {
   };
 
   template<>
-  struct dimension<Rot3> : public std::integral_constant<size_t, 3> {
+  struct dimension<Rot3> : public std::integral_constant<int, 3> {
   };