Template Class OdometryFactor

• Defined in File covisibility_factors.hpp

Inheritance Relationships

Base Type

• public gtsam::BetweenFactor< TransformationType >

Class Documentation

template<typename TransformationType>
class OdometryFactor : public gtsam::BetweenFactor<TransformationType>

Factor representing an odometry measurement between two keyframes.

Template Parameters:

TransformationType – The type representing the camera pose (e.g., gtsam::Pose3, gtsam::Similarity3).

Public Types

using shared_ptr = std::shared_ptr<OdometryFactor<TransformationType>>

Typedef for a std::shared_ptr of an OdometryFactor.

using OdometryFactorTyped = OdometryFactor<TransformationType>

Typed alias for the OdometryFactor class template.

Public Functions

inline OdometryFactor(const keyframe_id_t keyframeId1_, const keyframe_id_t keyframeId2_, const TransformationType &odometry_, const gtsam::SharedNoiseModel &noiseModel_)

Construct a OdometryFactor object.

Parameters:

• keyframeId1_ – Id of Keyframe 1

• keyframeId2_ – Id of Keyframe 2

• odometry_ – The measured relative pose (from keyframe 1 to keyframe 2)

• noiseModel_ – The noise model for the factor.

Public Static Functions

static inline shared_ptr make_shared(const keyframe_id_t keyframeId1_, const keyframe_id_t keyframeId2_, const TransformationType &odometry_, const gtsam::SharedNoiseModel &noiseModel_)

Create a shared pointer to an OdometryFactor.

Parameters:

• keyframeId1_ – Id of Keyframe 1

• keyframeId2_ – Id of Keyframe 2

• odometry_ – The measured relative pose (from keyframe 1 to keyframe 2)

• noiseModel_ – The noise model for the factor.

Returns:

A shared pointer to the created OdometryFactor.