| Cisae::ADataProvider | ADataProvider class for managing data from various sensors |
| ▼Cisae::AFeatureDetector | Abstract class for feature detectors |
| ►Cisae::ACustomFeatureDetector | Class for custom feature detection and computation |
| Cisae::CsvKeypointDetector | This Class is design for CSV reading features |
| Cisae::Line2DFeatureDetector | |
| Cisae::semanticBBoxFeatureDetector | |
| ►Cisae::AOpenCVFeatureDetector | AOpenCVFeatureDetector class for detecting and computing features using OpenCV |
| Cisae::cvBRISKFeatureDetector | Class for detecting and computing BRISK features using OpenCV |
| Cisae::cvFASTFeatureDetector | Class for detecting and computing FAST features using OpenCV |
| Cisae::cvGFTTFeatureDetector | Class for detecting and computing GFTT (Good Features To Track) features using OpenCV |
| Cisae::cvKAZEFeatureDetector | Class for detecting and computing KAZE features using OpenCV |
| Cisae::cvORBFeatureDetector | Class for detecting and computing ORB features using OpenCV |
| ▼Cisae::AFeatureMatcher | Class for matching features between two sets of features |
| Cisae::Line2DFeatureMatcher | Class for matching 2D line features |
| Cisae::Point2DFeatureMatcher | Class for matching 2D point features |
| Cisae::semanticBBoxFeatureMatcher | Class for matching 2D bouding box features |
| ▼Cisae::AFeatureTracker | Implements feature tracking between two images |
| Cisae::Line2DFeatureTracker | Class for tracking 2D line features |
| Cisae::Point2DFeatureTracker | Class for tracking 2D point features |
| Cisae::semanticBBoxFeatureTracker | Class for tracking 2D bounding boxes features |
| ▼Cisae::AMap | Abstract class for a Map |
| Cisae::GlobalMap | Class for a Global Map |
| Cisae::LocalMap | Class for a Local Map |
| ▼Cisae::AOptimizer | Abstract class for optimization pipeline based on CERES |
| Cisae::AngularAdjustmentCERESAnalytic | An optimizer that uses Angular Cost function on the unit sphere for Bundle Adjustment and analytical jacobian derivation |
| Cisae::BundleAdjustmentCERESAnalytic | An optimizer that uses Angular Cost function on the unit sphere for Bundle Adjustment and analytical jacobian derivation |
| Cisae::BundleAdjustmentCERESNumeric | An optimizer that uses Numeric Cost function for Bundle Adjustment |
| ▼Cisae::APoseEstimator | Abstract class for relative pose estimation between two frames |
| Cisae::EpipolarPoseEstimator | EpipolarPoseEstimator class for estimating the pose between two frames using Essential Matrix |
| Cisae::ESKFEstimator | ESKFEstimator class for estimating the transformation between two frames using an EKF |
| Cisae::PnPPoseEstimator | PnPPoseEstimator class for estimating the transformation between two frames using PnP |
| ▼Cisae::ASensor | Abstract class for all sensors |
| ►Cisae::ImageSensor | Abstract class for image sensors |
| Cisae::Camera | A pinhole camera sensor class |
| Cisae::DoubleSphere | An image sensor class that uses a double sphere model |
| Cisae::Fisheye | An image sensor class that uses the normalized spherical model |
| Cisae::Omni | An image sensor class that uses the Omni model |
| Cisae::IMU | An Inertial Measurement Unit (IMU) sensor class |
| Cisae::Config | This structure contains the configuration parameters located in the config file |
| ▼CCostFunction | |
| Cisae::MarginalizationFactor | Ceres cost function of the dense prior factor |
| Cupm::DrawingBranch | |
| Cupm::EdgeDrawer | |
| Cupm::ELSED | |
| Cupm::ELSEDParams | |
| ▼Cenable_shared_from_this | |
| ►Cisae::AFeature | Abstract class for 2D features |
| Cisae::BBox2D | A 2D bounding box feature class |
| Cisae::Line2D | A 2D line feature class |
| Cisae::Point2D | A single 2D point feature class |
| ►Cisae::ALandmark | Abstract class for 3D Landmarks |
| Cisae::BBox3D | A 3D bounding box landmark class |
| Cisae::Line3D | A 3D Line landmark class |
| Cisae::Point3D | A 3D Point landmark class |
| ►Cisae::ALandmarkInitializer | Abstract class for initializing landmarks |
| Cisae::Line3DLandmarkInitializer | Class for initializing 3D line landmarks |
| Cisae::Point3DLandmarkInitializer | Class for initializing 3D point landmarks |
| Cisae::semanticBBoxLandmarkInitializer | Class for initializing semantic bounding box landmarks |
| ►Cisae::AModel3d | Abstract class for 3D models |
| Cisae::ModelBBox3D | Model for a 3D Bounding Box |
| Cisae::ModelLine3D | Model for a 3D Line |
| Cisae::ModelPoint3D | Model for a 3D point |
| Cisae::Frame | A Frame class representing a set of sensors and landmarks at a specific timestamp |
| Cisae::ImageSensor | Abstract class for image sensors |
| Cisae::Polygon | A polygon in the 3D mesh, representing a surface with its vertices, normal, barycenter, and covariance |
| Cisae::EUROCGrabber | EUROCGrabber class for loading and processing frames from raw data in the EUROC format |
| Cisae::FeatureMatcherStruct | A struct that contains a feature matcher and its parameters |
| Cisae::FeatureStruct | A struct that gathers all the parameters for a feature |
| Cisae::FeatureTrackerStruct | A struct that contains a feature tracker and its parameters |
| Cupm::FullSegmentInfo | |
| Cupm::LineDetectionExtraInfo | |
| Cisae::Marginalization | Marginalization class that handles marginalization (and sparsification) for fixed-lag smoothing |
| Cisae::MarginalizationBlockInfo | Marginalization block struct that stores a factor and the indices of the variables involved |
| Cisae::Mesh3D | A class to build and update a 3D mesh from 2D features and landmarks |
| Cisae::Mesher | A class to handles 3D meshing via 2D triangulation on successive KFs |
| Cupm::Pixel | |
| Cisae::PointXYZParametersBlock | A Parameter block for 3D position that does the interface between a double* and an Eigen::Vector3d |
| Cisae::PoseParametersBlock | A Parameter block for pose that does the interface between a double* and an Eigen::Affine3d |
| Cupm::SalientSegment | |
| ▼Cisae::sensor_config | Abstract struct of a sensor |
| Cisae::cam_config | Camera configuration |
| Cisae::imu_config | Config strucuture for an IMU |
| ▼CSizedCostFunction | |
| Cisae::AngularErrCeres_linexd_dx | An angular cost function for line landmarks that depends on the delta update of the frame pose and the line parameters |
| Cisae::AngularErrCeres_pointxd_depth | An angular cost function that depends on the depth of the landmark, the current frame pose and the anchor frame pose |
| Cisae::AngularErrCeres_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 |
| Cisae::AngularErrorScaleCam0 | An angular cost function that depends on the scale of the motion |
| Cisae::AngularErrorScaleDepth | An angular cost function that depends on the depth of the landmark and the scale of the motion |
| Cisae::IMUBiasFactor | IMU bias cost function that takes into account random walk behaviour |
| Cisae::IMUFactor | A cost function for IMU pre-integration factor, parameters are delta updates |
| Cisae::IMUFactorInit | Pre integration IMU factor for initialization, the parameters optimized are: scale, roll, pitch, velocities and biases |
| Cisae::IMUFactorInitBis | An experimental IMU factor refining only roll, pitch, biases and scale |
| Cisae::IMUPriordx | An absolute prior on an Inertial state, including pose, velocity and biases |
| Cisae::Landmark3DPrior | A factor for absolute 3D position constraint on a punctual landmark |
| Cisae::LandmarkToLandmarkFactor | 3D relative translation factor between 3D punctual landmarks |
| Cisae::Motion2DFactor | A cost function to impose a constraint on 2D motion |
| Cisae::PosePriordx | Absolute 6DoF pose prior factor |
| Cisae::PoseToLandmarkFactor | Relative 3D translation between a 6DoF frame and a punctual landmark |
| Cisae::Relative6DPose | A cost function for 6DoF relative pose constraint, the parameters are the delta pose of the two related poses |
| Cisae::ReprojectionErrCeres_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 |
| Cisae::ReprojectionErrCeres_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 |
| Cisae::scalePrior | Prior on a 1D parameter (e.g. scale) |
| ▼Cisae::SLAMCore | The core abstract class of the SLAM system. It handles front-end, back-end and initialization |
| Cisae::SLAMBiMono | A SLAM class for bi-monocular setups |
| Cisae::SLAMBiMonoVIO | A SLAM class for bi-monocular + IMU setups |
| Cisae::SLAMMono | A SLAM class for monocular setups |
| Cisae::SLAMMonoVIO | A SLAM class for monocular + IMU setups |
| Cisae::SLAMNonOverlappingFov | A SLAM class for non overlapping FoV setups |
| Cisae::SLAMParameters | A class that gathers most of the algorithmic blocks of the SLAM system that can be setup in the config file |
| ▼CTest | |
| Cisae::AssociationTest | |
| Cisae::ImuTest | |
| Cisae::LineFeatureTest | |
| Cisae::MarginalizationTest | |
| Cisae::MeshTest | |
| Cisae::NoFOVTest | |
| Cisae::ResidualTest | |
| Cisae::timer::timer_handle | Handy way for timing an action |
| Cisae::Vertex | A vertex in the 3D mesh, representing a landmark and its associated polygons |
