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

[detail level 12]

▼Nfovis	Quick and dirty profiling tool.inspired by the matlab tic/toc command
CCameraIntrinsicsParameters	Intrinsic parameters for a pinhole camera with plumb-bob distortion model
CDepthImage	Depth source where a fully dense, metric depth image is available
CDepthSource	Provides depth estimates for input image pixels
CFeatureMatch	Represents a single image feature matched between two camera images taken at different times
CFeatureMatcher	Matches features between a reference and a target image
CGridKeyPointFilter	Places features into grid cells and discards the weakest features in each cell
CInitialHomographyEstimator	Estimates a rough 2D homography registering two images
CIntensityDescriptorExtractor	Extracts mean-normalized intensity patch around a pixel
CKeyPoint	An interesting point in an image
CKeypointData	Image feature used for motion estimation
CMotionEstimator	Does the heavy lifting for frame-to-frame motion estimation
COdometryFrame	Stores data specific to an input frame
CPrimeSenseCalibration	Computes useful information from a PrimeSenseCalibrationParameters object
CPrimeSenseCalibrationParameters	Calibration data structure for Kinect / PrimeSense sensors
CPrimeSenseDepth	Stores depth data for a Kinect / PrimeSense camera
CPyramidLevel	One level of a Gaussian image pyramid
CRectification	Maps image coordinates from an input image to image coordinates on a rectified camera
CSAD	Calculates the Sum of Absolute Deviations (SAD) score between two vectors of length descriptor_len
CStereoCalibration	Computes useful information from a StereoCalibrationParameters object
CStereoCalibrationParameters	Calibration data structure for stereo cameras
CStereoDepth	Stores image data for a stereo camera pair
CStereoDisparity	Depth source for a calibrated stereo camera pair where a dense disparity map has been precomputed
CStereoFrame	Stores the right-hand image for a stereo pair
CVisualOdometry	Main visual odometry class