| BagSubscriber< M > | |
| GLViewer | OpenGL based display of the 3d model |
| Graphical_UI | Constructs a QT GUI for easy control of RGBD-SLAM |
| GraphManager | Computes a globally optimal trajectory from transformations between Node-pairs |
| LoadedEdge3D | |
| LoadedEdgeComparator3D | |
| MatchingResult | |
| Node | Holds the data for one graph node and provides functionality to compute relative transformations to other Nodes |
| OpenNIListener | Handles most of the ROS-based communication |
| ParameterServer | Getting values from parameter server. This class is used for getting the parameters from the parameter server |
| QtROS | Sets up a thread for ROS event processing |
| RosUi | Headless version of the Graphical_UI |
| SiftGPUWrapper | Interface for SiftGPU The class is used as an interface to SiftGPU. It's a singleton class |
