Convert Odometry and Laserdata to Vertex and Edges

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Hey Guys,

can anyone explain me exactly, what the difference is between a vertex and an edge in relation to Graph-Based Slam. I am actually try to figuring out, how i can convert my laserdata and my odometry data to edges and vertices to put it into g2o and optimize it.

Would be my odometry values the vertex and the edges the transformation between my scans?

An example would be using g2o as a backend and open_karto as my front end in a gazebo simulation.

Thank you :D