| ▼CCostFunction | |
| Cov_init::Factor_GenericPrior | Factor for generic state priors for specific types |
| Cov_init::Factor_ImageReprojCalib | Factor of feature bearing observation (raw) with calibration |
| Cov_init::Factor_ImuCPIv1 | Factor for IMU continuous preintegration version 1 |
| Cov_init::DynamicInitializer | Initializer for a dynamic visual-inertial system |
| Cov_init::InertialInitializer | Initializer for visual-inertial system |
| Cov_init::InertialInitializerOptions | Struct which stores all options needed for state estimation |
| Cov_init::InitializerHelper | Has a bunch of helper functions for dynamic initialization (should all be static) |
| ▼CLocalParameterization | |
| Cov_init::State_JPLQuatLocal | JPL quaternion CERES state parameterization |
| Cov_init::SimulatorInit | Master simulator class that generated visual-inertial measurements |
| Cov_init::StaticInitializer | Initializer for a static visual-inertial system |