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+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2014, Itseez Inc, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Itseez Inc or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef OPENCV_DATASETS_SLAM_KITTI_HPP
+#define OPENCV_DATASETS_SLAM_KITTI_HPP
+
+#include <string>
+#include <vector>
+
+#include "opencv2/datasets/dataset.hpp"
+
+#include <opencv2/core.hpp>
+
+namespace cv
+{
+namespace datasets
+{
+
+//! @addtogroup datasets_slam
+//! @{
+
+struct pose
+{
+    double elem[12];
+};
+
+struct SLAM_kittiObj : public Object
+{
+    std::string name;
+    std::vector<std::string> images[4];
+    std::vector<std::string> velodyne;
+    std::vector<double> times, p[4];
+    std::vector<pose> posesArray;
+};
+
+class CV_EXPORTS SLAM_kitti : public Dataset
+{
+public:
+    virtual void load(const std::string &path) = 0;
+
+    static Ptr<SLAM_kitti> create();
+};
+
+//! @}
+
+}
+}
+
+#endif