Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 123]

►Nclams
CDiscreteDepthDistortionModel
CDiscreteFrustum
CFrameProjector
CProjectivePoint
►Nrtabmap
►Ngraph	Pose-graph I/O, trajectory metrics, link utilities, and path planning
CMaxGraphErrors	Largest pose-graph constraint violations after optimization
CBayesFilter	Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map
CBRISK	BRISK detector and descriptor
CCamera
CCameraDepthAI
CCameraFreenect
CCameraFreenect2
CCameraImages
CCameraK4A
CCameraK4W2
CCameraModel	Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection, rectification, and transformation
CCameraMyntEye
CCameraOpenni	OpenNI driver for cameras like Kinect for Xbox 360
CCameraOpenNI2
CCameraOpenNICV
CCameraOrbbecSDK
CCameraRealSense
CCameraRealSense2
CCameraRGBDImages
CCameraSeerSense
CCameraStereoDC1394
CCameraStereoFlyCapture2
CCameraStereoImages
CCameraStereoTara
CCameraStereoVideo
CCameraStereoZed
CCameraStereoZedOC
CCameraVideo
CCloudMap
CCompressionThread	Background thread to compress or uncompress images and generic matrices
CDBDriver	Abstract database driver for RTAB-Map maps (signatures, links, words, statistics)
CDBDriverSqlite3	SQLite3 implementation of DBDriver for RTAB-Map map databases
CDBReader
CEnvSensor	Single environmental measurement (type, value, timestamp)
CEpipolarGeometry
CFAST	FAST corner detector only (no descriptor)
CFAST_BRIEF	FAST corners + BRIEF descriptors
CFAST_FREAK	FAST corners + FREAK descriptors
CFeature2D	Abstract 2D feature detector and descriptor extractor for visual SLAM
CFeatureBA	A single bundle adjustment feature observation: one keypoint seen in one frame
CFlannIndex	Nearest neighbor index over a set of features
CGainCompensator
CGeodeticCoords	WGS84 geodetic latitude, longitude and altitude with coordinate conversions
CGFTT	Good-features-to-track detector (Shi–Tomasi / Harris)
CGFTT_BRIEF	GFTT corners + BRIEF descriptors
CGFTT_DAISY	GFTT corners + DAISY descriptors (OpenCV 3+ xfeatures2d)
CGFTT_FREAK	GFTT corners + FREAK descriptors
CGFTT_ORB	GFTT corners + ORB descriptors (common default when SURF is unavailable)
CGlobalDescriptor
CGlobalDescriptorExtractor
CGlobalMap	Abstract base for assembling per-node LocalGrid data into a global map
CGPS	WGS84 GPS fix attached to a sensor sample or graph node
CGridMap
CIMU	Inertial measurement sample (ROS sensor_msgs/Imu-like fields)
CIMUEvent	UEvent carrying an IMU sample and timestamp
CIMUFilter	Fuses gyroscope and accelerometer samples into an orientation quaternion
CIMUThread	Background thread that replays IMU measurements from a CSV file
CKAZE	KAZE detector and descriptor (OpenCV 3+)
CLandmark	Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map
CLaserScan	Represents 2D or 3D laser scan data with support for multiple point data formats
CLidar
CLidarVLP16
CLink	Directed constraint between two nodes in RTAB-Map's pose graph
CLocalGrid	Local occupancy grid cells for one map node (ground, obstacles, empty)
CLocalGridCache	Cache of LocalGrid entries keyed by map node id
CLocalGridMaker	Builds per-node local occupancy grids from laser scans or depth clouds
CMarkerDetector
CMarkerInfo
CMemory	Three-tiered memory management (STM, WM, LTM) for RTAB-Map
COccupancyGrid
COctoMap
COdometry	Abstract base class for visual, lidar and visual-inertial odometry backends
COdometryCuVSLAM
COdometryDVO
COdometryEvent	One processed frame with the pose the odometry integrated for it
COdometryF2F
COdometryF2M
COdometryFLOAM
COdometryFovis
COdometryInfo	What one Odometry iteration produced, beyond the pose
COdometryLIOSAM
COdometryLOAM
COdometryMono
COdometryMSCKF
COdometryOkvis
COdometryOpen3D
COdometryOpenVINS
COdometryORBSLAM2
COdometryORBSLAM3
COdometryResetEvent	Asks OdometryThread to restart the odometry from a given pose
COdometryThread	Runs an Odometry front-end in its own thread, driven by events
COdometryVINSFusion
COdometryViso2
COptimizer	Abstract base for pose-graph and bundle-adjustment optimizers
COptimizerCeres
COptimizerCVSBA
COptimizerG2O
COptimizerGTSAM
COptimizerTORO
CORB	ORB detector and descriptor (optional GPU)
CORBOctree	ORB with octree spatial distribution (RTAB-Map must be built with OCTREE enabled)
CParameters
CParamEvent
CParticleFilter
CPointXYZIRT	This namespace contains 3D point cloud processing utilities
CPointXYZIT
CProgressState
CPythonInterface
CRegistration	Abstract base for registering two observations (visual, ICP, or both)
CRegistrationIcp
CRegistrationInfo	Statistics and diagnostics returned by Registration
CRegistrationVis	Visual registration between two signatures using features and geometry
CRtabmap	Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure)
►CRtabmapColorOcTree
CStaticMemberInitializer
CRtabmapColorOcTreeNode
CRtabmapEvent
CRtabmapEvent3DMap
CRtabmapEventCmd	Command sent to RtabmapThread, with its parameters
CRtabmapEventInit
CRtabmapGlobalPathEvent
CRtabmapGoalStatusEvent
CRtabmapLabelErrorEvent
CRtabmapThread	Runs a Rtabmap instance in its own thread, driven by events
CRvlCodec
CSensorCapture	Abstract base class for sensor data capture (cameras, lidars, etc.)
CSensorCaptureInfo	Metadata structure for sensor data capture and processing
CSensorCaptureThread	Thread-based sensor data capture and event posting for RTAB-Map
CSensorData	Container class for all sensor data captured at a specific time
CSensorEvent	Event class for sensor data communication in RTAB-Map's event system
CSIFT	SIFT detector and descriptor (optional GPU / CudaSift)
CSignature	Represents a node in RTAB-Map's pose graph
CStatistics	Collects and manages runtime statistics for RTAB-Map
CStereo	Sparse stereo matching using block matching
CStereoBM	Block Matching algorithm for dense stereo matching
CStereoCameraModel	A class representing a calibrated stereo camera system
CStereoDense	Abstract base class for dense stereo matching algorithms
CStereoOpticalFlow	Sparse stereo matching using optical flow
CStereoSGBM	Semi-Global Block Matching algorithm for dense stereo matching
CSuperPointRpautrat	SuperPoint (rpautrat) via Torch + Python (RTAB-Map must be built with libtorch and Python support)
CSuperPointTorch	SuperPoint via LibTorch (RTAB-Map must be built with libtorch support)
CSURF	SURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build)
CSURF_DAISY	SURF detector + DAISY descriptors (OpenCV 3+ xfeatures2d)
CSURF_FREAK	SURF detector + FREAK descriptors
CTransform	Represents a 3D rigid body transformation (rotation + translation)
CTransformStamped	Associates a transform with a timestamp
CUserDataEvent
CVisualWord	Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model
CVWDictionary	Manages a dictionary of visual words for visual place recognition and loop closure detection
CUDestroyer
CUDirectory
CUEvent
CUEventDispatcher
CUEventsHandler
CUEventsManager
CUEventsSender
CUException
CUFile
CULogEvent
CULogger
CUMutex
CUObjDeletedEvent
CUObjDeletionThread
CUProcessInfo	Class for getting information about the current process
CUScopeMutex
CUSemaphore
CUThread
CUThreadC
CUThreadC< void >
CUTimer
CUVariant	A variant type that can hold values of different types