| Crtabmap::BayesFilter | Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map |
| Crtabmap::CameraModel | Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection, rectification, and transformation |
| ►Coctomap::ColorOcTreeNode | |
| Crtabmap::RtabmapColorOcTreeNode | |
| Cclams::DiscreteDepthDistortionModel | |
| Cclams::DiscreteFrustum | |
| Crtabmap::EnvSensor | Single environmental measurement (type, value, timestamp) |
| Crtabmap::EpipolarGeometry | |
| ►Crtabmap::Feature2D | Abstract 2D feature detector and descriptor extractor for visual SLAM |
| Crtabmap::BRISK | BRISK detector and descriptor |
| ►Crtabmap::FAST | FAST corner detector only (no descriptor) |
| Crtabmap::FAST_BRIEF | FAST corners + BRIEF descriptors |
| Crtabmap::FAST_FREAK | FAST corners + FREAK descriptors |
| ►Crtabmap::GFTT | Good-features-to-track detector (Shi–Tomasi / Harris) |
| Crtabmap::GFTT_BRIEF | GFTT corners + BRIEF descriptors |
| Crtabmap::GFTT_DAISY | GFTT corners + DAISY descriptors (OpenCV 3+ xfeatures2d) |
| Crtabmap::GFTT_FREAK | GFTT corners + FREAK descriptors |
| Crtabmap::GFTT_ORB | GFTT corners + ORB descriptors (common default when SURF is unavailable) |
| Crtabmap::KAZE | KAZE detector and descriptor (OpenCV 3+) |
| Crtabmap::ORB | ORB detector and descriptor (optional GPU) |
| Crtabmap::ORBOctree | ORB with octree spatial distribution (RTAB-Map must be built with OCTREE enabled) |
| Crtabmap::SIFT | SIFT detector and descriptor (optional GPU / CudaSift) |
| ►Crtabmap::SURF | SURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build) |
| Crtabmap::SURF_DAISY | SURF detector + DAISY descriptors (OpenCV 3+ xfeatures2d) |
| Crtabmap::SURF_FREAK | SURF detector + FREAK descriptors |
| Crtabmap::SuperPointRpautrat | SuperPoint (rpautrat) via Torch + Python (RTAB-Map must be built with libtorch and Python support) |
| Crtabmap::SuperPointTorch | SuperPoint via LibTorch (RTAB-Map must be built with libtorch support) |
| Crtabmap::FeatureBA | A single bundle adjustment feature observation: one keypoint seen in one frame |
| Crtabmap::FlannIndex | Nearest neighbor index over a set of features |
| Cclams::FrameProjector | |
| Crtabmap::GainCompensator | |
| Crtabmap::GeodeticCoords | WGS84 geodetic latitude, longitude and altitude with coordinate conversions |
| Crtabmap::GlobalDescriptor | |
| Crtabmap::GlobalDescriptorExtractor | |
| ►Crtabmap::GlobalMap | Abstract base for assembling per-node LocalGrid data into a global map |
| Crtabmap::CloudMap | |
| Crtabmap::GridMap | |
| Crtabmap::OccupancyGrid | |
| Crtabmap::OctoMap | |
| Crtabmap::GPS | WGS84 GPS fix attached to a sensor sample or graph node |
| Crtabmap::IMU | Inertial measurement sample (ROS sensor_msgs/Imu-like fields) |
| Crtabmap::IMUFilter | Fuses gyroscope and accelerometer samples into an orientation quaternion |
| Crtabmap::Landmark | Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map |
| Crtabmap::LaserScan | Represents 2D or 3D laser scan data with support for multiple point data formats |
| Crtabmap::Link | Directed constraint between two nodes in RTAB-Map's pose graph |
| Crtabmap::LocalGrid | Local occupancy grid cells for one map node (ground, obstacles, empty) |
| Crtabmap::LocalGridCache | Cache of LocalGrid entries keyed by map node id |
| Crtabmap::LocalGridMaker | Builds per-node local occupancy grids from laser scans or depth clouds |
| Crtabmap::MarkerDetector | |
| Crtabmap::MarkerInfo | |
| Crtabmap::graph::MaxGraphErrors | Largest pose-graph constraint violations after optimization |
| Crtabmap::Memory | Three-tiered memory management (STM, WM, LTM) for RTAB-Map |
| ►Coctomap::OccupancyOcTreeBase | |
| Crtabmap::RtabmapColorOcTree | |
| ►Crtabmap::Odometry | Abstract base class for visual, lidar and visual-inertial odometry backends |
| Crtabmap::OdometryCuVSLAM | |
| Crtabmap::OdometryDVO | |
| Crtabmap::OdometryF2F | |
| Crtabmap::OdometryF2M | |
| Crtabmap::OdometryFLOAM | |
| Crtabmap::OdometryFovis | |
| Crtabmap::OdometryLIOSAM | |
| Crtabmap::OdometryLOAM | |
| Crtabmap::OdometryMSCKF | |
| Crtabmap::OdometryMono | |
| Crtabmap::OdometryORBSLAM2 | |
| Crtabmap::OdometryORBSLAM3 | |
| Crtabmap::OdometryOkvis | |
| Crtabmap::OdometryOpen3D | |
| Crtabmap::OdometryOpenVINS | |
| Crtabmap::OdometryVINSFusion | |
| Crtabmap::OdometryViso2 | |
| Crtabmap::OdometryInfo | What one Odometry iteration produced, beyond the pose |
| ►Crtabmap::Optimizer | Abstract base for pose-graph and bundle-adjustment optimizers |
| Crtabmap::OptimizerCVSBA | |
| Crtabmap::OptimizerCeres | |
| Crtabmap::OptimizerG2O | |
| Crtabmap::OptimizerGTSAM | |
| Crtabmap::OptimizerTORO | |
| Crtabmap::Parameters | |
| Crtabmap::ParticleFilter | |
| Crtabmap::PointXYZIRT | This namespace contains 3D point cloud processing utilities |
| Crtabmap::PointXYZIT | |
| Crtabmap::ProgressState | |
| Cclams::ProjectivePoint | |
| Crtabmap::PythonInterface | |
| ►Crtabmap::Registration | Abstract base for registering two observations (visual, ICP, or both) |
| Crtabmap::RegistrationIcp | |
| Crtabmap::RegistrationVis | Visual registration between two signatures using features and geometry |
| Crtabmap::RegistrationInfo | Statistics and diagnostics returned by Registration |
| Crtabmap::Rtabmap | Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure) |
| ►Cstd::runtime_error | |
| CUException | |
| Crtabmap::RvlCodec | |
| ►Crtabmap::SensorCapture | Abstract base class for sensor data capture (cameras, lidars, etc.) |
| ►Crtabmap::Camera | |
| Crtabmap::CameraDepthAI | |
| Crtabmap::CameraFreenect | |
| Crtabmap::CameraFreenect2 | |
| ►Crtabmap::CameraImages | |
| Crtabmap::CameraRGBDImages | |
| Crtabmap::CameraStereoImages | |
| Crtabmap::CameraK4A | |
| Crtabmap::CameraK4W2 | |
| Crtabmap::CameraMyntEye | |
| Crtabmap::CameraOpenNI2 | |
| Crtabmap::CameraOpenNICV | |
| Crtabmap::CameraOpenni | OpenNI driver for cameras like Kinect for Xbox 360 |
| Crtabmap::CameraOrbbecSDK | |
| Crtabmap::CameraRealSense | |
| Crtabmap::CameraRealSense2 | |
| Crtabmap::CameraSeerSense | |
| Crtabmap::CameraStereoDC1394 | |
| Crtabmap::CameraStereoFlyCapture2 | |
| Crtabmap::CameraStereoTara | |
| Crtabmap::CameraStereoVideo | |
| Crtabmap::CameraStereoZed | |
| Crtabmap::CameraStereoZedOC | |
| Crtabmap::CameraVideo | |
| Crtabmap::DBReader | |
| ►Crtabmap::Lidar | |
| Crtabmap::LidarVLP16 | |
| Crtabmap::SensorCaptureInfo | Metadata structure for sensor data capture and processing |
| Crtabmap::SensorData | Container class for all sensor data captured at a specific time |
| Crtabmap::Signature | Represents a node in RTAB-Map's pose graph |
| Crtabmap::RtabmapColorOcTree::StaticMemberInitializer | |
| Crtabmap::Statistics | Collects and manages runtime statistics for RTAB-Map |
| ►Crtabmap::Stereo | Sparse stereo matching using block matching |
| Crtabmap::StereoOpticalFlow | Sparse stereo matching using optical flow |
| Crtabmap::StereoCameraModel | A class representing a calibrated stereo camera system |
| ►Crtabmap::StereoDense | Abstract base class for dense stereo matching algorithms |
| Crtabmap::StereoBM | Block Matching algorithm for dense stereo matching |
| Crtabmap::StereoSGBM | Semi-Global Block Matching algorithm for dense stereo matching |
| Crtabmap::Transform | Represents a 3D rigid body transformation (rotation + translation) |
| Crtabmap::TransformStamped | Associates a transform with a timestamp |
| CUDestroyer< T > | |
| CUDestroyer< UEventsManager > | |
| CUDestroyer< ULogger > | |
| CUDirectory | |
| ►CUEvent | |
| CULogEvent | |
| CUObjDeletedEvent | |
| Crtabmap::IMUEvent | UEvent carrying an IMU sample and timestamp |
| Crtabmap::OdometryEvent | One processed frame with the pose the odometry integrated for it |
| Crtabmap::OdometryResetEvent | Asks OdometryThread to restart the odometry from a given pose |
| Crtabmap::ParamEvent | |
| Crtabmap::RtabmapEvent | |
| Crtabmap::RtabmapEvent3DMap | |
| Crtabmap::RtabmapEventCmd | Command sent to RtabmapThread, with its parameters |
| Crtabmap::RtabmapEventInit | |
| Crtabmap::RtabmapGlobalPathEvent | |
| Crtabmap::RtabmapGoalStatusEvent | |
| Crtabmap::RtabmapLabelErrorEvent | |
| Crtabmap::SensorEvent | Event class for sensor data communication in RTAB-Map's event system |
| Crtabmap::UserDataEvent | |
| ►CUEventsSender | |
| ►CUEventsHandler | |
| Crtabmap::OdometryThread | Runs an Odometry front-end in its own thread, driven by events |
| Crtabmap::RtabmapThread | Runs a Rtabmap instance in its own thread, driven by events |
| Crtabmap::IMUThread | Background thread that replays IMU measurements from a CSV file |
| Crtabmap::SensorCaptureThread | Thread-based sensor data capture and event posting for RTAB-Map |
| CUFile | |
| CULogger | |
| CUMutex | |
| CUProcessInfo | Class for getting information about the current process |
| CUScopeMutex | |
| CUSemaphore | |
| CUThreadC< Thread_T > | |
| ►CUThreadC< void > | |
| ►CUThread | |
| CUEventDispatcher | |
| CUEventsManager | |
| CUObjDeletionThread< T > | |
| Crtabmap::CompressionThread | Background thread to compress or uncompress images and generic matrices |
| ►Crtabmap::DBDriver | Abstract database driver for RTAB-Map maps (signatures, links, words, statistics) |
| Crtabmap::DBDriverSqlite3 | SQLite3 implementation of DBDriver for RTAB-Map map databases |
| Crtabmap::IMUThread | Background thread that replays IMU measurements from a CSV file |
| Crtabmap::OdometryThread | Runs an Odometry front-end in its own thread, driven by events |
| Crtabmap::RtabmapThread | Runs a Rtabmap instance in its own thread, driven by events |
| Crtabmap::SensorCaptureThread | Thread-based sensor data capture and event posting for RTAB-Map |
| CUTimer | |
| CUVariant | A variant type that can hold values of different types |
| Crtabmap::VisualWord | Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model |
| ►Cpcl::VLPGrabber | |
| Crtabmap::LidarVLP16 | |
| Crtabmap::VWDictionary | Manages a dictionary of visual words for visual place recognition and loop closure detection |
1.9.8