| ▼Nframe_common | |
| CCamParams | |
| ▼Nsba | |
| CCon2dP2 | |
| CConP2 | |
| CConP3P | |
| CConScale | |
| CCSparse | |
| CCSparse2d | |
| CjacobiBPCG | Let's try templated versions |
| CJacobProds | |
| CNode | NODE holds graph nodes corresponding to frames, for use in sparse bundle adjustment. Each node has a 6DOF pose, encoded as a translation vector and rotation unit quaternion (Eigen classes). These represent the pose of the node in the world frame |
| CNode2d | |
| CProj | Proj holds a projection measurement of a point onto a frame. They are a repository for the link between the frame and the point, with auxillary info such as Jacobians |
| CSysSBA | SysSBA holds a set of nodes and points for sparse bundle adjustment |
| CSysSPA | SysSPA holds a set of nodes and constraints for sparse pose adjustment |
| CSysSPA2d | SysSPA2d holds a set of nodes and constraints for sparse pose adjustment |
| CTrack | |
| CSBANode | |
| Ctinfo |