Template Class ObservationEdge

• Defined in File observation_edge.hpp

Class Documentation

template<typename TransformationType>
class ObservationEdge

This class defines the edge between a map point and a keyframe.

Public Types

using shared_ptr = std::shared_ptr<ObservationEdge>

Typedef for a std::shared_ptr of ObservationEdge.

using vector = vector_t<ObservationEdge>

Typedef for a vector_t of ObservationEdge.

using queue = queue_t<ObservationEdge>

Typedef for a queue_t of ObservationEdge.

Public Functions

inline ObservationEdge(const point_id_t &pointId_, const keyframe_id_t &keyframeId_, const PointObservation<TransformationType> &observation_)

Construct an ObservationEdge object.

Parameters:

• pointId_ – ID of the point being observed.

• keyframeId_ – ID of the keyframe observing the point.

• observation_ – Observation data for the point in the keyframe.

inline ObservationEdge(const ObservationEdge::shared_ptr &other_)

Construct an ObservationEdge object.

Parameters:

other_ – Shared pointer to an ObservationEdge object.

inline ObservationEdge(const ObservationEdge &other_)

Construct an ObservationEdge object.

Parameters:

other_ – ObservationEdge object.

inline ObservationEdge()

Construct a default ObservationEdge object.

inline ~ObservationEdge()

Destroys an ObservationEdge object.

inline ObservationEdge &operator=(const ObservationEdge &other_)

Assignment operator for ObservationEdge.

Parameters:

other_ – ObservationEdge object.

Returns:

Reference to the updated edge.

Public Members

point_id_t _pointId

Map point Id.

keyframe_id_t _keyframeId

Keyframe Id.

PointObservation<TransformationType> _observation

Observation data for the point in the keyframe.