EssentialMatrixConstraint.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010-2014, 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
 
 * -------------------------------------------------------------------------- */

 
#pragma once
 
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/nonlinear/NoiseModelFactorN.h>
#include <gtsam/geometry/EssentialMatrix.h>
 
namespace gtsam {

class GTSAM_EXPORT EssentialMatrixConstraint
    : public NoiseModelFactorT<Vector5, Pose3, Pose3> {
 
private:
 
  typedef EssentialMatrixConstraint This;
  typedef NoiseModelFactorT<Vector5, Pose3, Pose3> Base;
 
  EssentialMatrix measuredE_; 
 
public:
 
  // Provide access to the Matrix& version of evaluateError:
  using Base::evaluateError;
 
  // shorthand for a smart pointer to a factor
  typedef std::shared_ptr<EssentialMatrixConstraint> shared_ptr;

  EssentialMatrixConstraint() {
  }

  EssentialMatrixConstraint(Key key1, Key key2,
      const EssentialMatrix& measuredE, const SharedNoiseModel& model) :
      Base(model, key1, key2), measuredE_(measuredE) {
  }
 
  ~EssentialMatrixConstraint() override {
  }

  gtsam::NonlinearFactor::shared_ptr clone() const override {
    return std::static_pointer_cast<gtsam::NonlinearFactor>(
        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
  }


  void print(const std::string& s = "",
      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;

  bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override;


  Vector5 evaluateError(const Pose3& p1, const Pose3& p2,
                        OptionalMatrixType Hp1,
                        OptionalMatrixType Hp2) const override;

  const EssentialMatrix& measured() const {
    return measuredE_;
  }
 
private:
 
#if GTSAM_ENABLE_BOOST_SERIALIZATION
  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    // NoiseModelFactor2 instead of NoiseModelFactorN for backward compatibility
    ar
        & boost::serialization::make_nvp("NoiseModelFactor2",
            boost::serialization::base_object<Base>(*this));
    ar & BOOST_SERIALIZATION_NVP(measuredE_);
  }
#endif
};
// \class EssentialMatrixConstraint
 
}