| ►Nisae | |
| ►Ntimer | |
| Ctimer_handle | Handy way for timing an action |
| CACustomFeatureDetector | Class for custom feature detection and computation |
| CADataProvider | ADataProvider class for managing data from various sensors |
| CAFeature | Abstract class for 2D features |
| CAFeatureDetector | Abstract class for feature detectors |
| CAFeatureMatcher | Class for matching features between two sets of features |
| CAFeatureTracker | Implements feature tracking between two images |
| CALandmark | Abstract class for 3D Landmarks |
| CALandmarkInitializer | Abstract class for initializing landmarks |
| CAMap | Abstract class for a Map |
| CAModel3d | Abstract class for 3D models |
| CAngularAdjustmentCERESAnalytic | An optimizer that uses Angular Cost function on the unit sphere for Bundle Adjustment and analytical jacobian derivation |
| CAngularErrCeres_linexd_dx | An angular cost function for line landmarks that depends on the delta update of the frame pose and the line parameters |
| CAngularErrCeres_pointxd_depth | An angular cost function that depends on the depth of the landmark, the current frame pose and the anchor frame pose |
| CAngularErrCeres_pointxd_dx | Angular error cost function for a point landmark in the sensor frame. Parameters are delta update of the frame pose and the landmark position |
| CAngularErrorScaleCam0 | An angular cost function that depends on the scale of the motion |
| CAngularErrorScaleDepth | An angular cost function that depends on the depth of the landmark and the scale of the motion |
| CAOpenCVFeatureDetector | AOpenCVFeatureDetector class for detecting and computing features using OpenCV |
| CAOptimizer | Abstract class for optimization pipeline based on CERES |
| CAPoseEstimator | Abstract class for relative pose estimation between two frames |
| CASensor | Abstract class for all sensors |
| CAssociationTest | |
| CBBox2D | A 2D bounding box feature class |
| CBBox3D | A 3D bounding box landmark class |
| CBundleAdjustmentCERESAnalytic | An optimizer that uses Angular Cost function on the unit sphere for Bundle Adjustment and analytical jacobian derivation |
| CBundleAdjustmentCERESNumeric | An optimizer that uses Numeric Cost function for Bundle Adjustment |
| Ccam_config | Camera configuration |
| CCamera | A pinhole camera sensor class |
| CConfig | This structure contains the configuration parameters located in the config file |
| CCsvKeypointDetector | This Class is design for CSV reading features |
| CcvBRISKFeatureDetector | Class for detecting and computing BRISK features using OpenCV |
| CcvFASTFeatureDetector | Class for detecting and computing FAST features using OpenCV |
| CcvGFTTFeatureDetector | Class for detecting and computing GFTT (Good Features To Track) features using OpenCV |
| CcvKAZEFeatureDetector | Class for detecting and computing KAZE features using OpenCV |
| CcvORBFeatureDetector | Class for detecting and computing ORB features using OpenCV |
| CDoubleSphere | An image sensor class that uses a double sphere model |
| CEpipolarPoseEstimator | EpipolarPoseEstimator class for estimating the pose between two frames using Essential Matrix |
| CESKFEstimator | ESKFEstimator class for estimating the transformation between two frames using an EKF |
| CEUROCGrabber | EUROCGrabber class for loading and processing frames from raw data in the EUROC format |
| CFeatureMatcherStruct | A struct that contains a feature matcher and its parameters |
| CFeatureStruct | A struct that gathers all the parameters for a feature |
| CFeatureTrackerStruct | A struct that contains a feature tracker and its parameters |
| CFisheye | An image sensor class that uses the normalized spherical model |
| CFrame | A Frame class representing a set of sensors and landmarks at a specific timestamp |
| CGlobalMap | Class for a Global Map |
| CImageSensor | Abstract class for image sensors |
| CIMU | An Inertial Measurement Unit (IMU) sensor class |
| Cimu_config | Config strucuture for an IMU |
| CIMUBiasFactor | IMU bias cost function that takes into account random walk behaviour |
| CIMUFactor | A cost function for IMU pre-integration factor, parameters are delta updates |
| CIMUFactorInit | Pre integration IMU factor for initialization, the parameters optimized are: scale, roll, pitch, velocities and biases |
| CIMUFactorInitBis | An experimental IMU factor refining only roll, pitch, biases and scale |
| CIMUPriordx | An absolute prior on an Inertial state, including pose, velocity and biases |
| CImuTest | |
| CLandmark3DPrior | A factor for absolute 3D position constraint on a punctual landmark |
| CLandmarkToLandmarkFactor | 3D relative translation factor between 3D punctual landmarks |
| CLine2D | A 2D line feature class |
| CLine2DFeatureDetector | |
| CLine2DFeatureMatcher | Class for matching 2D line features |
| CLine2DFeatureTracker | Class for tracking 2D line features |
| CLine3D | A 3D Line landmark class |
| CLine3DLandmarkInitializer | Class for initializing 3D line landmarks |
| CLineFeatureTest | |
| CLocalMap | Class for a Local Map |
| CMarginalization | Marginalization class that handles marginalization (and sparsification) for fixed-lag smoothing |
| CMarginalizationBlockInfo | Marginalization block struct that stores a factor and the indices of the variables involved |
| CMarginalizationFactor | Ceres cost function of the dense prior factor |
| CMarginalizationTest | |
| CMesh3D | A class to build and update a 3D mesh from 2D features and landmarks |
| CMesher | A class to handles 3D meshing via 2D triangulation on successive KFs |
| CMeshTest | |
| CModelBBox3D | Model for a 3D Bounding Box |
| CModelLine3D | Model for a 3D Line |
| CModelPoint3D | Model for a 3D point |
| CMotion2DFactor | A cost function to impose a constraint on 2D motion |
| CNoFOVTest | |
| COmni | An image sensor class that uses the Omni model |
| CPnPPoseEstimator | PnPPoseEstimator class for estimating the transformation between two frames using PnP |
| CPoint2D | A single 2D point feature class |
| CPoint2DFeatureMatcher | Class for matching 2D point features |
| CPoint2DFeatureTracker | Class for tracking 2D point features |
| CPoint3D | A 3D Point landmark class |
| CPoint3DLandmarkInitializer | Class for initializing 3D point landmarks |
| CPointXYZParametersBlock | A Parameter block for 3D position that does the interface between a double* and an Eigen::Vector3d |
| CPolygon | A polygon in the 3D mesh, representing a surface with its vertices, normal, barycenter, and covariance |
| CPoseParametersBlock | A Parameter block for pose that does the interface between a double* and an Eigen::Affine3d |
| CPosePriordx | Absolute 6DoF pose prior factor |
| CPoseToLandmarkFactor | Relative 3D translation between a 6DoF frame and a punctual landmark |
| CRelative6DPose | A cost function for 6DoF relative pose constraint, the parameters are the delta pose of the two related poses |
| CReprojectionErrCeres_linexd_dx | Reprojection error cost function for a line landmark. The parameters are the delta update of the frame and the delta update of the line 3D parametrization |
| CReprojectionErrCeres_pointxd_dx | Reprojection errro cost function for a punctual landmark. The parameters are the delta update of the frame and the delta update of the 3D position of the landmark |
| CResidualTest | |
| CscalePrior | Prior on a 1D parameter (e.g. scale) |
| CsemanticBBoxFeatureDetector | |
| CsemanticBBoxFeatureMatcher | Class for matching 2D bouding box features |
| CsemanticBBoxFeatureTracker | Class for tracking 2D bounding boxes features |
| CsemanticBBoxLandmarkInitializer | Class for initializing semantic bounding box landmarks |
| Csensor_config | Abstract struct of a sensor |
| CSLAMBiMono | A SLAM class for bi-monocular setups |
| CSLAMBiMonoVIO | A SLAM class for bi-monocular + IMU setups |
| CSLAMCore | The core abstract class of the SLAM system. It handles front-end, back-end and initialization |
| CSLAMMono | A SLAM class for monocular setups |
| CSLAMMonoVIO | A SLAM class for monocular + IMU setups |
| CSLAMNonOverlappingFov | A SLAM class for non overlapping FoV setups |
| CSLAMParameters | A class that gathers most of the algorithmic blocks of the SLAM system that can be setup in the config file |
| CVertex | A vertex in the 3D mesh, representing a landmark and its associated polygons |
| ►Nupm | |
| CDrawingBranch | |
| CEdgeDrawer | |
| CELSED | |
| CELSEDParams | |
| CFullSegmentInfo | |
| CLineDetectionExtraInfo | |
| CPixel | |
| CSalientSegment | |
