| ►Nboost | |
| ►NDBoW2 | |
| CBowVector | Vector of words to represent images |
| CFClass | Generic class to encapsulate functions to manage descriptors |
| CFeatureVector | Vector of nodes with indexes of local features |
| CFORB | Functions to manipulate ORB descriptors |
| CGeneralScoring | Base class of scoring functions |
| ►CTemplatedVocabulary | Generic Vocabulary |
| CNode | Tree node |
| ►NDUtils | |
| ►CRandom | Functions to generate pseudo-random numbers |
| CUnrepeatedRandomizer | Provides pseudo-random numbers with no repetitions |
| CTimestamp | Timestamp |
| ►Ng2o | |
| CAbstractHyperGraphElementCreator | Abstract interface for allocating HyperGraphElement |
| CAbstractOptimizationAlgorithmCreator | Base for allocating an optimization algorithm |
| CAbstractRobustKernelCreator | Abstract interface for allocating a robust kernel |
| CBaseBinaryEdge | |
| CBaseEdge | |
| ►CBaseMultiEdge | Base class to represent an edge connecting an arbitrary number of nodes |
| CHessianHelper | Helper for mapping the Hessian memory of the upper triangular block |
| CBaseProperty | |
| CBaseUnaryEdge | |
| CBaseVertex | Templatized BaseVertex |
| CBlockSolver | Implementation of a solver operating on the blocks of the Hessian |
| CBlockSolverBase | Base for the block solvers with some basic function interfaces |
| CBlockSolverTraits | Traits to summarize the properties of the fixed size optimization problem |
| CBlockSolverTraits< Eigen::Dynamic, Eigen::Dynamic > | Traits to summarize the properties of the dynamic size optimization problem |
| ►CCache | |
| CCacheKey | |
| CCacheContainer | |
| CColSort | |
| ►CDrawAction | Draw actions |
| CParameters | |
| CEdgeInverseSim3ProjectXYZ | |
| CEdgeSE3ProjectXYZ | |
| CEdgeSE3ProjectXYZOnlyPose | |
| CEdgeSim3 | 7D edge between two Vertex7 |
| CEdgeSim3ProjectXYZ | |
| CEdgeStereoSE3ProjectXYZ | |
| CEdgeStereoSE3ProjectXYZOnlyPose | |
| ►CEstimatePropagator | Propagation of an initial guess |
| CAdjacencyMapEntry | Data structure for loopuk during Dijkstra |
| CPriorityQueue | Priority queue for AdjacencyMapEntry |
| CPropagateAction | Applying the action for propagating |
| CVertexIDHashFunction | Hash function for a vertex |
| CEstimatePropagatorCost | Cost for traversing along active edges in the optimizer |
| CEstimatePropagatorCostOdometry | Cost for traversing only odometry edges |
| ►CFactory | Create vertices and edges based on TAGs in, for example, a file |
| CCreatorInformation | |
| CForceLinker | |
| CG2OBatchStatistics | Statistics about the optimization |
| ►CHyperDijkstra | |
| CAdjacencyMapEntry | |
| CCostFunction | |
| CTreeAction | |
| ►CHyperGraph | |
| CEdge | |
| CHyperGraphElement | |
| CVertex | Abstract Vertex, your types must derive from that one |
| ►CHyperGraphAction | Abstract action that operates on an entire graph |
| CParameters | |
| CParametersIteration | |
| CHyperGraphActionLibrary | Library of actions, indexed by the action name; |
| ►CHyperGraphElementAction | Abstract action that operates on a graph entity |
| CParameters | |
| CHyperGraphElementActionCollection | Collection of actions |
| CHyperGraphElementCreator | Templatized creator class which creates graph elements |
| CJacobianWorkspace | Provide memory workspace for computing the Jacobians |
| CLinearSolver | Basic solver for Ax = b |
| CLinearSolverCCS | Solver with faster iterating structure for the linear matrix |
| CLinearSolverDense | Linear solver using dense cholesky decomposition |
| ►CLinearSolverEigen | Linear solver which uses the sparse Cholesky solver from Eigen |
| CCholeskyDecomposition | Sub-classing Eigen's SimplicialLDLT to perform ordering with a given ordering |
| CMarginalCovarianceCholesky | Computing the marginal covariance given a cholesky factor (lower triangle of the factor) |
| CMatrixElem | |
| CMatrixStructure | Representing the structure of a matrix in column compressed structure (only the upper triangular part of the matrix) |
| COpenMPMutex | |
| ►COptimizableGraph | |
| CData | Data packet for a vertex. Extend this class to store in the vertices the potential additional information you need (e.g. images, laser scans, ...) |
| CEdge | |
| CEdgeIDCompare | Order edges based on the internal ID, which is assigned to the edge in addEdge() |
| CVertex | A general case Vertex for optimization |
| CVertexIDCompare | Order vertices based on their ID |
| COptimizationAlgorithm | Generic interface for a non-linear solver operating on a graph |
| COptimizationAlgorithmDogleg | Implementation of Powell's Dogleg Algorithm |
| COptimizationAlgorithmFactory | Create solvers based on their short name |
| COptimizationAlgorithmGaussNewton | Implementation of the Gauss Newton Algorithm |
| COptimizationAlgorithmLevenberg | Implementation of the Levenberg Algorithm |
| COptimizationAlgorithmProperty | Describe the properties of a solver |
| COptimizationAlgorithmWithHessian | Base for solvers operating on the approximated Hessian, e.g., Gauss-Newton, Levenberg |
| CParameter | |
| CParameterContainer | Map id to parameters |
| CProperty | |
| CPropertyMap | Collection of properties mapping from name to the property itself |
| CRegisterActionProxy | |
| CRegisterOptimizationAlgorithmProxy | |
| CRegisterRobustKernelProxy | |
| CRegisterTypeProxy | |
| CRobustKernel | Base for all robust cost functions |
| CRobustKernelCauchy | Cauchy cost function |
| CRobustKernelCreator | Templatized creator class which creates graph elements |
| CRobustKernelDCS | Dynamic covariance scaling - DCS |
| CRobustKernelFactory | Create robust kernels based on their human readable name |
| CRobustKernelHuber | Huber Cost Function |
| CRobustKernelPseudoHuber | Pseudo Huber Cost Function |
| CRobustKernelSaturated | Saturated cost function |
| CRobustKernelScaleDelta | Scale a robust kernel to another delta (window size) |
| CRobustKernelTukey | Tukey Cost Function |
| CScopedOpenMPMutex | Lock a mutex within a scope |
| CScopeTime | Class to measure the time spent in a scope |
| CSE3Quat | |
| CSim3 | |
| CSolver | Generic interface for a sparse solver operating on a graph which solves one iteration of the linearized objective function |
| CSparseBlockMatrix | Sparse matrix which uses blocks |
| ►CSparseBlockMatrixCCS | Sparse matrix which uses blocks |
| CRowBlock | A block within a column |
| CSparseBlockMatrixDiagonal | Sparse matrix which uses blocks on the diagonal |
| CSparseBlockMatrixHashMap | Sparse matrix which uses blocks based on hash structures |
| CSparseOptimizer | |
| CUniformCostFunction | |
| CVertexSBAPointXYZ | Point vertex, XYZ |
| CVertexSE3Expmap | SE3 Vertex parameterized internally with a transformation matrix and externally with its exponential map |
| CVertexSim3Expmap | Sim3 Vertex, (x,y,z,qw,qx,qy,qz) the parameterization for the increments constructed is a 7d vector (x,y,z,qx,qy,qz) (note that we leave out the w part of the quaternion |
| ►CWriteGnuplotAction | |
| CParameters | |
| ►NORB_SLAM2 | |
| CConverter | |
| CExtractorNode | |
| CFrame | |
| CFrameDrawer | |
| CInitializer | |
| CKeyFrame | |
| CKeyFrameDatabase | |
| CLocalMapping | |
| CLoopClosing | |
| CMap | |
| CMapPoint | |
| COptimizer | |
| CORBextractor | |
| CORBmatcher | |
| CORBParameters | |
| CPnPsolver | |
| CSim3Solver | |
| CSystem | |
| CTracking | |
| CMonoNode | |
| CNode | |
| CRGBDNode | |
| CStereoNode | |