| Ngraph | Pose-graph I/O, trajectory metrics, link utilities, and path planning |
| ►Nrtabmap | |
| Nutil2d | This namespace contains 2D image processing utilities |
| 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 | |
| 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 | |
| COdometryF2F | |
| COdometryF2M | |
| COdometryFLOAM | |
| COdometryFovis | |
| COdometryInfo | |
| COdometryLIOSAM | |
| COdometryLOAM | |
| COdometryMono | |
| COdometryMSCKF | |
| COdometryOkvis | |
| COdometryOpen3D | |
| COdometryOpenVINS | |
| COdometryORBSLAM2 | |
| COdometryORBSLAM3 | |
| COdometryResetEvent | |
| COdometryThread | |
| 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 | |
| CRtabmapEventInit | |
| CRtabmapGlobalPathEvent | |
| CRtabmapGoalStatusEvent | |
| CRtabmapLabelErrorEvent | |
| CRtabmapThread | |
| 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 |
