Class OdometryEdge

• Defined in File odometry_edge.hpp

Class Documentation

class OdometryEdge

Represents a relative-pose constraint between two keyframes.

Stores both keyframe IDs, the relative pose from keyframe A to keyframe B, and whether the constraint was created by loop closure.

Public Types

using shared_ptr = std::shared_ptr<OdometryEdge>

Typedef for a std::shared_ptr of OdometryEdge.

using vector = vector_t<OdometryEdge>

Typedef for a vector_t of OdometryEdge.

using queue = queue_t<OdometryEdge>

Typedef for a queue_t of OdometryEdge.

Public Functions

inline OdometryEdge(const keyframe_id_t &keyframeA_, const keyframe_id_t &keyframeB_, const pose_t &odometry_, const bool loopClosure_ = false)

Construct an OdometryEdge object.

Parameters:

• keyframeA_ – First keyframe ID of the constraint.

• keyframeB_ – Second keyframe ID of the constraint.

• odometry_ – Relative pose that transforms keyframe A into keyframe B.

• loopClosure_ – True when the edge was created from loop closure.

inline OdometryEdge(const OdometryEdge::shared_ptr &other_)

Construct an OdometryEdge object from a shared pointer.

Parameters:

other_ – Shared pointer to the source OdometryEdge.

inline OdometryEdge(const OdometryEdge &other_)

Construct an OdometryEdge object by copy.

Parameters:

other_ – Source OdometryEdge.

inline OdometryEdge()

Construct a default OdometryEdge object.

inline ~OdometryEdge()

Destroy an OdometryEdge object.

inline OdometryEdge &operator=(const OdometryEdge &other_)

Assignment operator for OdometryEdge.

Parameters:

other_ – Source OdometryEdge.

Returns:

Reference to this edge after assignment.

Public Members

keyframe_id_t _keyframeA

First keyframe Id.

keyframe_id_t _keyframeB

Second keyframe Id.

pose_t _odometry

Relative pose that transforms keyframe A to B.

bool _loopClosure = false

Flag indicating if this edge is a loop closure.