/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

/**
 * @file   SmartFactorBase.h
 * @brief  Base class to create smart factors on poses or cameras
 * @author Luca Carlone
 * @author Zsolt Kira
 * @author Frank Dellaert
 */

#pragma once

#include "JacobianFactorQ.h"
#include "JacobianFactorSVD.h"
#include "ImplicitSchurFactor.h"
#include "RegularHessianFactor.h"

#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/slam/dataset.h>

#include <boost/optional.hpp>
#include <boost/make_shared.hpp>
#include <vector>

namespace gtsam {
/// Base class with no internal point, completely functional
template<class POSE, class CALIBRATION, size_t D>
class SmartFactorBase: public NonlinearFactor {
protected:

  // Keep a copy of measurement and calibration for I/O
  std::vector<Point2> measured_; ///< 2D measurement for each of the m views
  std::vector<SharedNoiseModel> noise_; ///< noise model used
  ///< (important that the order is the same as the keys that we use to create the factor)

  boost::optional<POSE> body_P_sensor_; ///< The pose of the sensor in the body frame (one for all cameras)

  /// Definitions for blocks of F
  typedef Eigen::Matrix<double, 2, D> Matrix2D; // F
  typedef Eigen::Matrix<double, D, 2> MatrixD2; // F'
  typedef std::pair<Key, Matrix2D> KeyMatrix2D; // Fblocks
  typedef Eigen::Matrix<double, D, D> MatrixDD; // camera hessian block
  typedef Eigen::Matrix<double, 2, 3> Matrix23;
  typedef Eigen::Matrix<double, D, 1> VectorD;
  typedef Eigen::Matrix<double, 2, 2> Matrix2;

  /// shorthand for base class type
  typedef NonlinearFactor Base;

  /// shorthand for this class
  typedef SmartFactorBase<POSE, CALIBRATION, D> This;

public:

  /// shorthand for a smart pointer to a factor
  typedef boost::shared_ptr<This> shared_ptr;

  /// shorthand for a pinhole camera
  typedef PinholeCamera<CALIBRATION> Camera;
  typedef std::vector<Camera> Cameras;

  /**
   * Constructor
   * @param body_P_sensor is the transform from body to sensor frame (default identity)
   */
  SmartFactorBase(boost::optional<POSE> body_P_sensor = boost::none) :
      body_P_sensor_(body_P_sensor) {
  }

  /** Virtual destructor */
  virtual ~SmartFactorBase() {
  }

  /**
   * add a new measurement and pose key
   * @param measured_i is the 2m dimensional projection of a single landmark
   * @param poseKey is the index corresponding to the camera observing the landmark
   * @param noise_i is the measurement noise
   */
  void add(const Point2& measured_i, const Key& poseKey_i,
      const SharedNoiseModel& noise_i) {
    this->measured_.push_back(measured_i);
    this->keys_.push_back(poseKey_i);
    this->noise_.push_back(noise_i);
  }

  /**
   * variant of the previous add: adds a bunch of measurements, together with the camera keys and noises
   */
  // ****************************************************************************************************
  void add(std::vector<Point2>& measurements, std::vector<Key>& poseKeys,
      std::vector<SharedNoiseModel>& noises) {
    for (size_t i = 0; i < measurements.size(); i++) {
      this->measured_.push_back(measurements.at(i));
      this->keys_.push_back(poseKeys.at(i));
      this->noise_.push_back(noises.at(i));
    }
  }

  /**
   * variant of the previous add: adds a bunch of measurements and uses the same noise model for all of them
   */
  // ****************************************************************************************************
  void add(std::vector<Point2>& measurements, std::vector<Key>& poseKeys,
      const SharedNoiseModel& noise) {
    for (size_t i = 0; i < measurements.size(); i++) {
      this->measured_.push_back(measurements.at(i));
      this->keys_.push_back(poseKeys.at(i));
      this->noise_.push_back(noise);
    }
  }

  /**
   * Adds an entire SfM_track (collection of cameras observing a single point).
   * The noise is assumed to be the same for all measurements
   */
  // ****************************************************************************************************
  void add(const SfM_Track& trackToAdd, const SharedNoiseModel& noise) {
    for (size_t k = 0; k < trackToAdd.number_measurements(); k++) {
      this->measured_.push_back(trackToAdd.measurements[k].second);
      this->keys_.push_back(trackToAdd.measurements[k].first);
      this->noise_.push_back(noise);
    }
  }

  /** return the measurements */
  const Vector& measured() const {
    return measured_;
  }

  /** return the noise model */
  const SharedNoiseModel& noise() const {
    return noise_;
  }

  /**
   * print
   * @param s optional string naming the factor
   * @param keyFormatter optional formatter useful for printing Symbols
   */
  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
      DefaultKeyFormatter) const {
    std::cout << s << "SmartFactorBase, z = \n";
    for (size_t k = 0; k < measured_.size(); ++k) {
      std::cout << "measurement, p = " << measured_[k] << "\t";
      noise_[k]->print("noise model = ");
    }
    if (this->body_P_sensor_)
      this->body_P_sensor_->print("  sensor pose in body frame: ");
    Base::print("", keyFormatter);
  }

  /// equals
  virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const {
    const This *e = dynamic_cast<const This*>(&p);

    bool areMeasurementsEqual = true;
    for (size_t i = 0; i < measured_.size(); i++) {
      if (this->measured_.at(i).equals(e->measured_.at(i), tol) == false)
        areMeasurementsEqual = false;
      break;
    }
    return e && Base::equals(p, tol) && areMeasurementsEqual
        && ((!body_P_sensor_ && !e->body_P_sensor_)
            || (body_P_sensor_ && e->body_P_sensor_
                && body_P_sensor_->equals(*e->body_P_sensor_)));
  }

  // ****************************************************************************************************
  /// Calculate vector of re-projection errors, before applying noise model
  Vector reprojectionError(const Cameras& cameras, const Point3& point) const {

    Vector b = zero(2 * cameras.size());

    size_t i = 0;
    BOOST_FOREACH(const Camera& camera, cameras) {
      const Point2& zi = this->measured_.at(i);
      try {
        Point2 e(camera.project(point) - zi);
        b[2 * i] = e.x();
        b[2 * i + 1] = e.y();
      } catch (CheiralityException& e) {
        std::cout << "Cheirality exception " << std::endl;
        exit (EXIT_FAILURE);
      }
      i += 1;
    }

    return b;
  }

  // ****************************************************************************************************
  /**
   * Calculate the error of the factor.
   * This is the log-likelihood, e.g. \f$ 0.5(h(x)-z)^2/\sigma^2 \f$ in case of Gaussian.
   * In this class, we take the raw prediction error \f$ h(x)-z \f$, ask the noise model
   * to transform it to \f$ (h(x)-z)^2/\sigma^2 \f$, and then multiply by 0.5.
   * This is different from reprojectionError(cameras,point) as each point is whitened
   */
  double totalReprojectionError(const Cameras& cameras,
      const Point3& point) const {

    double overallError = 0;

    size_t i = 0;
    BOOST_FOREACH(const Camera& camera, cameras) {
      const Point2& zi = this->measured_.at(i);
      try {
        Point2 reprojectionError(camera.project(point) - zi);
        overallError += 0.5
        * this->noise_.at(i)->distance(reprojectionError.vector());
      } catch (CheiralityException&) {
        std::cout << "Cheirality exception " << std::endl;
        exit (EXIT_FAILURE);
      }
      i += 1;
    }
    return overallError;
  }

  // ****************************************************************************************************
  /// Assumes non-degenerate !
  void computeEP(Matrix& E, Matrix& PointCov, const Cameras& cameras,
      const Point3& point) const {

    int numKeys = this->keys_.size();
    E = zeros(2 * numKeys, 3);
    Vector b = zero(2 * numKeys);

    Matrix Ei(2, 3);
    for (size_t i = 0; i < this->measured_.size(); i++) {
      try {
        cameras[i].project(point, boost::none, Ei);
      } catch (CheiralityException& e) {
        std::cout << "Cheirality exception " << std::endl;
        exit (EXIT_FAILURE);
      }
      this->noise_.at(i)->WhitenSystem(Ei, b);
      E.block<2, 3>(2 * i, 0) = Ei;
    }

    // Matrix PointCov;
    PointCov.noalias() = (E.transpose() * E).inverse();
  }

  // ****************************************************************************************************
  /// Compute F, E only (called below in both vanilla and SVD versions)
  /// Given a Point3, assumes dimensionality is 3
  double computeJacobians(std::vector<KeyMatrix2D>& Fblocks, Matrix& E,
      Vector& b, const Cameras& cameras, const Point3& point) const {

    size_t numKeys = this->keys_.size();
    E = zeros(2 * numKeys, 3);
    b = zero(2 * numKeys);
    double f = 0;

    Matrix Fi(2, 6), Ei(2, 3), Hcali(2, D - 6), Hcam(2, D);
    for (size_t i = 0; i < this->measured_.size(); i++) {

      Vector bi;
      try {
        bi =
            -(cameras[i].project(point, Fi, Ei, Hcali) - this->measured_.at(i)).vector();
      } catch (CheiralityException&) {
        std::cout << "Cheirality exception " << std::endl;
        exit (EXIT_FAILURE);
      }
      this->noise_.at(i)->WhitenSystem(Fi, Ei, Hcali, bi);

      f += bi.squaredNorm();
      if (D == 6) { // optimize only camera pose
        Fblocks.push_back(KeyMatrix2D(this->keys_[i], Fi));
      } else {
        Hcam.block<2, 6>(0, 0) = Fi; // 2 x 6 block for the cameras
        Hcam.block<2, D - 6>(0, 6) = Hcali; // 2 x nrCal block for the cameras
        Fblocks.push_back(KeyMatrix2D(this->keys_[i], Hcam));
      }
      E.block<2, 3>(2 * i, 0) = Ei;
      subInsert(b, bi, 2 * i);
    }
    return f;
  }

  // ****************************************************************************************************
  /// Version that computes PointCov, with optional lambda parameter
  double computeJacobians(std::vector<KeyMatrix2D>& Fblocks, Matrix& E,
      Matrix3& PointCov, Vector& b, const Cameras& cameras, const Point3& point,
      double lambda = 0.0, bool diagonalDamping = false) const {

    double f = computeJacobians(Fblocks, E, b, cameras, point);

    // Point covariance inv(E'*E)
    Matrix3 EtE = E.transpose() * E;
    Matrix3 DMatrix = eye(E.cols()); // damping matrix

    if (diagonalDamping) { // diagonal of the hessian
      DMatrix(0, 0) = EtE(0, 0);
      DMatrix(1, 1) = EtE(1, 1);
      DMatrix(2, 2) = EtE(2, 2);
    }

    PointCov.noalias() = (EtE + lambda * DMatrix).inverse();

    return f;
  }

  // ****************************************************************************************************
  // TODO, there should not be a Matrix version, really
  double computeJacobians(Matrix& F, Matrix& E, Matrix3& PointCov, Vector& b,
      const Cameras& cameras, const Point3& point,
      const double lambda = 0.0) const {

    size_t numKeys = this->keys_.size();
    std::vector < KeyMatrix2D > Fblocks;
    double f = computeJacobians(Fblocks, E, PointCov, b, cameras, point,
        lambda);
    F = zeros(2 * numKeys, D * numKeys);

    for (size_t i = 0; i < this->keys_.size(); ++i) {
      F.block<2, D>(2 * i, D * i) = Fblocks.at(i).second; // 2 x 6 block for the cameras
    }
    return f;
  }

  // ****************************************************************************************************
  /// SVD version
  double computeJacobiansSVD(std::vector<KeyMatrix2D>& Fblocks, Matrix& Enull,
      Vector& b, const Cameras& cameras, const Point3& point, double lambda =
          0.0, bool diagonalDamping = false) const {

    Matrix E;
    Matrix3 PointCov; // useless
    double f = computeJacobians(Fblocks, E, PointCov, b, cameras, point, lambda,
        diagonalDamping); // diagonalDamping should have no effect (only on PointCov)

    // Do SVD on A
    Eigen::JacobiSVD < Matrix > svd(E, Eigen::ComputeFullU);
    Vector s = svd.singularValues();
    // Enull = zeros(2 * numKeys, 2 * numKeys - 3);
    int numKeys = this->keys_.size();
    Enull = svd.matrixU().block(0, 3, 2 * numKeys, 2 * numKeys - 3); // last 2m-3 columns

    return f;
  }

  // ****************************************************************************************************
  /// Matrix version of SVD
  // TODO, there should not be a Matrix version, really
  double computeJacobiansSVD(Matrix& F, Matrix& Enull, Vector& b,
      const Cameras& cameras, const Point3& point) const {

    int numKeys = this->keys_.size();
    std::vector < KeyMatrix2D > Fblocks;
    double f = computeJacobiansSVD(Fblocks, Enull, b, cameras, point);
    F.resize(2 * numKeys, D * numKeys);
    F.setZero();

    for (size_t i = 0; i < this->keys_.size(); ++i)
      F.block<2, D>(2 * i, D * i) = Fblocks.at(i).second; // 2 x 6 block for the cameras

    return f;
  }

  // ****************************************************************************************************
  /// linearize returns a Hessianfactor that is an approximation of error(p)
  boost::shared_ptr<RegularHessianFactor<D> > createHessianFactor(
      const Cameras& cameras, const Point3& point, const double lambda = 0.0,
      bool diagonalDamping = false) const {

    int numKeys = this->keys_.size();

    std::vector < KeyMatrix2D > Fblocks;
    Matrix E;
    Matrix3 PointCov;
    Vector b;
    double f = computeJacobians(Fblocks, E, PointCov, b, cameras, point, lambda,
        diagonalDamping);

//#define HESSIAN_BLOCKS
#ifdef HESSIAN_BLOCKS
    // Create structures for Hessian Factors
    std::vector < Matrix > Gs(numKeys * (numKeys + 1) / 2);
    std::vector < Vector > gs(numKeys);

    sparseSchurComplement(Fblocks, E, PointCov, b, Gs, gs);
    // schurComplement(Fblocks, E, PointCov, b, Gs, gs);

    //std::vector < Matrix > Gs2(Gs.begin(), Gs.end());
    //std::vector < Vector > gs2(gs.begin(), gs.end());

    return boost::make_shared < RegularHessianFactor<D>
        > (this->keys_, Gs, gs, f);
#else
    size_t n1 = D * numKeys + 1;
    std::vector<DenseIndex> dims(numKeys + 1); // this also includes the b term
    std::fill(dims.begin(), dims.end() - 1, D);
    dims.back() = 1;

    SymmetricBlockMatrix  augmentedHessian(dims, Matrix::Zero(n1, n1)); // for 10 cameras, size should be (10*D+1 x 10*D+1)
    sparseSchurComplement(Fblocks, E, PointCov, b, augmentedHessian); // augmentedHessian.matrix().block<D,D> (i1,i2) = ...
    augmentedHessian(numKeys,numKeys)(0,0) = f;
    return boost::make_shared<RegularHessianFactor<D> >(
            this->keys_, augmentedHessian);

#endif
  }

  // ****************************************************************************************************
   boost::shared_ptr<RegularHessianFactor<D> > updateAugmentedHessian(
       const Cameras& cameras, const Point3& point, const double lambda,
       bool diagonalDamping, SymmetricBlockMatrix& augmentedHessian) const {

     int numKeys = this->keys_.size();

     std::vector < KeyMatrix2D > Fblocks;
     Matrix E;
     Matrix3 PointCov;
     Vector b;
     double f = computeJacobians(Fblocks, E, PointCov, b, cameras, point, lambda,
         diagonalDamping);

     std::vector<DenseIndex> dims(numKeys + 1); // this also includes the b term
     std::fill(dims.begin(), dims.end() - 1, D);
     dims.back() = 1;

     updateSparseSchurComplement(Fblocks, E, PointCov, b, augmentedHessian); // augmentedHessian.matrix().block<D,D> (i1,i2) = ...
     std::cout << "f "<< f <<std::endl;
     augmentedHessian(numKeys,numKeys)(0,0) += f;
   }

  // ****************************************************************************************************
  void schurComplement(const std::vector<KeyMatrix2D>& Fblocks, const Matrix& E,
      const Matrix& PointCov, const Vector& b,
      /*output ->*/std::vector<Matrix>& Gs, std::vector<Vector>& gs) const {
    // Schur complement trick
    // Gs = F' * F - F' * E * inv(E'*E) * E' * F
    // gs = F' * (b - E * inv(E'*E) * E' * b)
    // This version uses full matrices

    int numKeys = this->keys_.size();

    /// Compute Full F ????
    Matrix F = zeros(2 * numKeys, D * numKeys);
    for (size_t i = 0; i < this->keys_.size(); ++i)
      F.block<2, D>(2 * i, D * i) = Fblocks.at(i).second; // 2 x 6 block for the cameras

    Matrix H(D * numKeys, D * numKeys);
    Vector gs_vector;

    H.noalias() = F.transpose() * (F - (E * (PointCov * (E.transpose() * F))));
    gs_vector.noalias() = F.transpose()
        * (b - (E * (PointCov * (E.transpose() * b))));

    // Populate Gs and gs
    int GsCount2 = 0;
    for (DenseIndex i1 = 0; i1 < numKeys; i1++) { // for each camera
      DenseIndex i1D = i1 * D;
      gs.at(i1) = gs_vector.segment < D > (i1D);
      for (DenseIndex i2 = 0; i2 < numKeys; i2++) {
        if (i2 >= i1) {
          Gs.at(GsCount2) = H.block<D, D>(i1D, i2 * D);
          GsCount2++;
        }
      }
    }
  }

  // ****************************************************************************************************
  void updateSparseSchurComplement(const std::vector<KeyMatrix2D>& Fblocks,
      const Matrix& E, const Matrix& P /*Point Covariance*/, const Vector& b,
      /*output ->*/SymmetricBlockMatrix& augmentedHessian) const {
    // Schur complement trick
    // Gs = F' * F - F' * E * P * E' * F
    // gs = F' * (b - E * P * E' * b)

    // a single point is observed in numKeys cameras
    size_t numKeys = this->keys_.size(); // cameras observing current point
    size_t aug_numKeys = augmentedHessian.rows() - 1; // all cameras in the group

    // Blockwise Schur complement
    for (size_t i1 = 0; i1 < numKeys; i1++) { // for each camera

      const Matrix2D& Fi1 = Fblocks.at(i1).second;
      const Matrix23 Ei1_P = E.block<2, 3>(2 * i1, 0) * P;

      // D = (Dx2) * (2)
      // (augmentedHessian.matrix()).block<D,1> (i1,numKeys+1) = Fi1.transpose() * b.segment < 2 > (2 * i1); // F' * b
      size_t aug_i1 = this->keys_[i1];
      std::cout << "i1 "<< i1 <<std::endl;
      std::cout << "aug_i1 "<< aug_i1 <<std::endl;
      std::cout << "aug_numKeys "<< aug_numKeys <<std::endl;
      augmentedHessian(aug_i1,aug_numKeys) = //augmentedHessian(aug_i1,aug_numKeys) +
                        Fi1.transpose() * b.segment < 2 > (2 * i1) // F' * b
                      - Fi1.transpose() * (Ei1_P * (E.transpose() * b)); // D = (Dx2) * (2x3) * (3*2m) * (2m x 1)

      // (DxD) = (Dx2) * ( (2xD) - (2x3) * (3x2) * (2xD) )
      std::cout << "filled 1  " <<std::endl;
      augmentedHessian(aug_i1,aug_i1) = //augmentedHessian(aug_i1,aug_i1) +
          Fi1.transpose() * (Fi1 - Ei1_P * E.block<2, 3>(2 * i1, 0).transpose() * Fi1);

      // upper triangular part of the hessian
      for (size_t i2 = i1+1; i2 < numKeys; i2++) { // for each camera
        const Matrix2D& Fi2 = Fblocks.at(i2).second;
        size_t aug_i2 = this->keys_[i2];
        std::cout << "i2 "<< i2 <<std::endl;
        std::cout << "aug_i2 "<< aug_i2 <<std::endl;

        // (DxD) = (Dx2) * ( (2x2) * (2xD) )
        augmentedHessian(aug_i1, aug_i2) = //augmentedHessian(aug_i1, aug_i2)
            - Fi1.transpose() * (Ei1_P * E.block<2, 3>(2 * i2, 0).transpose() * Fi2);
      }
    } // end of for over cameras
  }

  // ****************************************************************************************************
  void sparseSchurComplement(const std::vector<KeyMatrix2D>& Fblocks,
      const Matrix& E, const Matrix& P /*Point Covariance*/, const Vector& b,
      /*output ->*/SymmetricBlockMatrix& augmentedHessian) const {
    // Schur complement trick
    // Gs = F' * F - F' * E * P * E' * F
    // gs = F' * (b - E * P * E' * b)

    // a single point is observed in numKeys cameras
    size_t numKeys = this->keys_.size();

    // Blockwise Schur complement
    for (size_t i1 = 0; i1 < numKeys; i1++) { // for each camera

      const Matrix2D& Fi1 = Fblocks.at(i1).second;
      const Matrix23 Ei1_P = E.block<2, 3>(2 * i1, 0) * P;

      // D = (Dx2) * (2)
      // (augmentedHessian.matrix()).block<D,1> (i1,numKeys+1) = Fi1.transpose() * b.segment < 2 > (2 * i1); // F' * b
      augmentedHessian(i1,numKeys) = Fi1.transpose() * b.segment < 2 > (2 * i1) // F' * b
                      - Fi1.transpose() * (Ei1_P * (E.transpose() * b)); // D = (Dx2) * (2x3) * (3*2m) * (2m x 1)

      // (DxD) = (Dx2) * ( (2xD) - (2x3) * (3x2) * (2xD) )
      augmentedHessian(i1,i1) =
          Fi1.transpose() * (Fi1 - Ei1_P * E.block<2, 3>(2 * i1, 0).transpose() * Fi1);

      // upper triangular part of the hessian
      for (size_t i2 = i1+1; i2 < numKeys; i2++) { // for each camera
        const Matrix2D& Fi2 = Fblocks.at(i2).second;

        // (DxD) = (Dx2) * ( (2x2) * (2xD) )
        augmentedHessian(i1,i2) =
            -Fi1.transpose() * (Ei1_P * E.block<2, 3>(2 * i2, 0).transpose() * Fi2);
      }
    } // end of for over cameras
  }

  // ****************************************************************************************************
  void sparseSchurComplement(const std::vector<KeyMatrix2D>& Fblocks,
      const Matrix& E, const Matrix& P /*Point Covariance*/, const Vector& b,
      /*output ->*/std::vector<Matrix>& Gs, std::vector<Vector>& gs) const {
    // Schur complement trick
    // Gs = F' * F - F' * E * P * E' * F
    // gs = F' * (b - E * P * E' * b)

    // a single point is observed in numKeys cameras
    size_t numKeys = this->keys_.size();

    int GsIndex = 0;
    // Blockwise Schur complement
    for (size_t i1 = 0; i1 < numKeys; i1++) { // for each camera
      // GsIndex points to the upper triangular blocks
      // 0  1  2  3  4
      // X  5  6  7  8
      // X  X  9 10 11
      // X  X  X 12 13
      // X  X  X X  14
      const Matrix2D& Fi1 = Fblocks.at(i1).second;

      const Matrix23 Ei1_P = E.block<2, 3>(2 * i1, 0) * P;

      { // for i1 = i2
        // D = (Dx2) * (2)
        gs.at(i1) = Fi1.transpose() * b.segment < 2 > (2 * i1); // F' * b
        // D = (Dx2) * (2x3) * (3*2m) * (2m x 1)
        gs.at(i1) -= Fi1.transpose() * (Ei1_P * (E.transpose() * b));

        // (DxD) = (Dx2) * ( (2xD) - (2x3) * (3x2) * (2xD) )
        Gs.at(GsIndex) = Fi1.transpose() * (Fi1 - Ei1_P * E.block<2, 3>(2 * i1, 0).transpose() * Fi1);
        GsIndex++;
      }
      // upper triangular part of the hessian
      for (size_t i2 = i1+1; i2 < numKeys; i2++) { // for each camera
        const Matrix2D& Fi2 = Fblocks.at(i2).second;

        // (DxD) = (Dx2) * ( (2x2) * (2xD) )
        Gs.at(GsIndex) = -Fi1.transpose() * (Ei1_P * E.block<2, 3>(2 * i2, 0).transpose() * Fi2);
        GsIndex++;
      }
    } // end of for over cameras
  }
  // ****************************************************************************************************
  boost::shared_ptr<ImplicitSchurFactor<D> > createImplicitSchurFactor(
      const Cameras& cameras, const Point3& point, double lambda = 0.0,
      bool diagonalDamping = false) const {
    typename boost::shared_ptr<ImplicitSchurFactor<D> > f(
        new ImplicitSchurFactor<D>());
    computeJacobians(f->Fblocks(), f->E(), f->PointCovariance(), f->b(),
        cameras, point, lambda, diagonalDamping);
    f->initKeys();
    return f;
  }

  // ****************************************************************************************************
  boost::shared_ptr<JacobianFactorQ<D> > createJacobianQFactor(
      const Cameras& cameras, const Point3& point, double lambda = 0.0,
      bool diagonalDamping = false) const {
    std::vector < KeyMatrix2D > Fblocks;
    Matrix E;
    Matrix3 PointCov;
    Vector b;
    computeJacobians(Fblocks, E, PointCov, b, cameras, point, lambda,
        diagonalDamping);
    return boost::make_shared < JacobianFactorQ<D> > (Fblocks, E, PointCov, b);
  }

  // ****************************************************************************************************
  boost::shared_ptr<JacobianFactor> createJacobianSVDFactor(
      const Cameras& cameras, const Point3& point, double lambda = 0.0) const {
    size_t numKeys = this->keys_.size();
    std::vector < KeyMatrix2D > Fblocks;
    Vector b;
    Matrix Enull(2*numKeys, 2*numKeys-3);
    computeJacobiansSVD(Fblocks, Enull, b, cameras, point, lambda);
    return boost::make_shared< JacobianFactorSVD<6> >(Fblocks, Enull, b);
  }

private:

  /// Serialization function
  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int version) {
    ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
    ar & BOOST_SERIALIZATION_NVP(measured_);
    ar & BOOST_SERIALIZATION_NVP(body_P_sensor_);
  }
};

} // \ namespace gtsam