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#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