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< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.12</ span >
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< div class = "fragment" >< div class = "line" >< a id = "l00001" name = "l00001" ></ a >< span class = "lineno" > 1</ span >< span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00002" name = "l00002" ></ a >< span class = "lineno" > 2</ span >< span class = "comment" > Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</ span ></ div >
< div class = "line" >< a id = "l00003" name = "l00003" ></ a >< span class = "lineno" > 3</ span >< span class = "comment" > All rights reserved.</ span ></ div >
< div class = "line" >< a id = "l00004" name = "l00004" ></ a >< span class = "lineno" > 4</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00005" name = "l00005" ></ a >< span class = "lineno" > 5</ span >< span class = "comment" > Redistribution and use in source and binary forms, with or without</ span ></ div >
< div class = "line" >< a id = "l00006" name = "l00006" ></ a >< span class = "lineno" > 6</ span >< span class = "comment" > modification, are permitted provided that the following conditions are met:</ span ></ div >
< div class = "line" >< a id = "l00007" name = "l00007" ></ a >< span class = "lineno" > 7</ span >< span class = "comment" > * Redistributions of source code must retain the above copyright</ span ></ div >
< div class = "line" >< a id = "l00008" name = "l00008" ></ a >< span class = "lineno" > 8</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer.</ span ></ div >
< div class = "line" >< a id = "l00009" name = "l00009" ></ a >< span class = "lineno" > 9</ span >< span class = "comment" > * Redistributions in binary form must reproduce the above copyright</ span ></ div >
< div class = "line" >< a id = "l00010" name = "l00010" ></ a >< span class = "lineno" > 10</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer in the</ span ></ div >
< div class = "line" >< a id = "l00011" name = "l00011" ></ a >< span class = "lineno" > 11</ span >< span class = "comment" > documentation and/or other materials provided with the distribution.</ span ></ div >
< div class = "line" >< a id = "l00012" name = "l00012" ></ a >< span class = "lineno" > 12</ span >< span class = "comment" > * Neither the name of the Universite de Sherbrooke nor the</ span ></ div >
< div class = "line" >< a id = "l00013" name = "l00013" ></ a >< span class = "lineno" > 13</ span >< span class = "comment" > names of its contributors may be used to endorse or promote products</ span ></ div >
< div class = "line" >< a id = "l00014" name = "l00014" ></ a >< span class = "lineno" > 14</ span >< span class = "comment" > derived from this software without specific prior written permission.</ span ></ div >
< div class = "line" >< a id = "l00015" name = "l00015" ></ a >< span class = "lineno" > 15</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00016" name = "l00016" ></ a >< span class = "lineno" > 16</ span >< span class = "comment" > THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS " AS IS" AND</ span ></ div >
< div class = "line" >< a id = "l00017" name = "l00017" ></ a >< span class = "lineno" > 17</ span >< span class = "comment" > ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</ span ></ div >
< div class = "line" >< a id = "l00018" name = "l00018" ></ a >< span class = "lineno" > 18</ span >< span class = "comment" > WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</ span ></ div >
< div class = "line" >< a id = "l00019" name = "l00019" ></ a >< span class = "lineno" > 19</ span >< span class = "comment" > DISCLAIMED. IN NO EVENT SHALL UNIVERTY DE SHERBROOKE BE LIABLE FOR ANY</ span ></ div >
< div class = "line" >< a id = "l00020" name = "l00020" ></ a >< span class = "lineno" > 20</ span >< span class = "comment" > DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</ span ></ div >
< div class = "line" >< a id = "l00021" name = "l00021" ></ a >< span class = "lineno" > 21</ span >< span class = "comment" > (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</ span ></ div >
< div class = "line" >< a id = "l00022" name = "l00022" ></ a >< span class = "lineno" > 22</ span >< span class = "comment" > LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</ span ></ div >
< div class = "line" >< a id = "l00023" name = "l00023" ></ a >< span class = "lineno" > 23</ span >< span class = "comment" > ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</ span ></ div >
< div class = "line" >< a id = "l00024" name = "l00024" ></ a >< span class = "lineno" > 24</ span >< span class = "comment" > (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</ span ></ div >
< div class = "line" >< a id = "l00025" name = "l00025" ></ a >< span class = "lineno" > 25</ span >< span class = "comment" > SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</ span ></ div >
< div class = "line" >< a id = "l00026" name = "l00026" ></ a >< span class = "lineno" > 26</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00027" name = "l00027" ></ a >< span class = "lineno" > 27</ span > </ div >
< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #ifndef VERSION_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define VERSION_H_</ span ></ div >
< div class = "line" >< a id = "l00030" name = "l00030" ></ a >< span class = "lineno" > 30</ span > </ div >
< div class = "line" >< a id = "l00031" name = "l00031" ></ a >< span class = "lineno" > 31</ span >< span class = "comment" > // This is auto-generated!</ span ></ div >
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< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span >< span class = "preprocessor" > #define RTABMAP_VERSION " 0.23.12" </ span ></ div >
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< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span > </ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #define RTABMAP_VERSION_MAJOR 0</ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span >< span class = "preprocessor" > #define RTABMAP_VERSION_MINOR 23</ span ></ div >
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< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span >< span class = "preprocessor" > #define RTABMAP_VERSION_PATCH 12</ span ></ div >
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< div class = "line" >< a id = "l00037" name = "l00037" ></ a >< span class = "lineno" > 37</ span > </ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span >< span class = "preprocessor" > #define RTABMAP_VERSION_COMPARE(OP, MAJOR, MINOR, PATCH) (RTABMAP_VERSION_MAJOR*10000+RTABMAP_VERSION_MINOR*100+RTABMAP_VERSION_PATCH OP MAJOR*10000+MINOR*100+PATCH)</ span ></ div >
< div class = "line" >< a id = "l00039" name = "l00039" ></ a >< span class = "lineno" > 39</ span > </ div >
< div class = "line" >< a id = "l00040" name = "l00040" ></ a >< span class = "lineno" > 40</ span >< span class = "comment" > //#define RTABMAP_NONFREE</ span ></ div >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" > 41</ span >< span class = "preprocessor" > #define RTABMAP_TORO</ span ></ div >
< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span >< span class = "comment" > //#define RTABMAP_G2O</ span ></ div >
< div class = "line" >< a id = "l00043" name = "l00043" ></ a >< span class = "lineno" > 43</ span >< span class = "comment" > //#define RTABMAP_G2O_CPP11 </ span ></ div >
< div class = "line" >< a id = "l00044" name = "l00044" ></ a >< span class = "lineno" > 44</ span >< span class = "preprocessor" > #define RTABMAP_G2O_WITH_SBA_UTILS</ span ></ div >
< div class = "line" >< a id = "l00045" name = "l00045" ></ a >< span class = "lineno" > 45</ span >< span class = "comment" > //#define RTABMAP_GTSAM</ span ></ div >
< div class = "line" >< a id = "l00046" name = "l00046" ></ a >< span class = "lineno" > 46</ span >< span class = "comment" > //#define RTABMAP_CERES</ span ></ div >
< div class = "line" >< a id = "l00047" name = "l00047" ></ a >< span class = "lineno" > 47</ span >< span class = "comment" > //#define RTABMAP_MRPT</ span ></ div >
< div class = "line" >< a id = "l00048" name = "l00048" ></ a >< span class = "lineno" > 48</ span >< span class = "comment" > //#define RTABMAP_VERTIGO</ span ></ div >
< div class = "line" >< a id = "l00049" name = "l00049" ></ a >< span class = "lineno" > 49</ span >< span class = "comment" > //#define RTABMAP_OPENNI</ span ></ div >
< div class = "line" >< a id = "l00050" name = "l00050" ></ a >< span class = "lineno" > 50</ span >< span class = "preprocessor" > #define RTABMAP_OPENNI2</ span ></ div >
< div class = "line" >< a id = "l00051" name = "l00051" ></ a >< span class = "lineno" > 51</ span >< span class = "comment" > //#define RTABMAP_FREENECT</ span ></ div >
< div class = "line" >< a id = "l00052" name = "l00052" ></ a >< span class = "lineno" > 52</ span >< span class = "comment" > //#define RTABMAP_FREENECT2</ span ></ div >
< div class = "line" >< a id = "l00053" name = "l00053" ></ a >< span class = "lineno" > 53</ span >< span class = "comment" > //#define RTABMAP_K4W2</ span ></ div >
< div class = "line" >< a id = "l00054" name = "l00054" ></ a >< span class = "lineno" > 54</ span >< span class = "comment" > //#define RTABMAP_K4A</ span ></ div >
< div class = "line" >< a id = "l00055" name = "l00055" ></ a >< span class = "lineno" > 55</ span >< span class = "comment" > //#define RTABMAP_CVSBA</ span ></ div >
< div class = "line" >< a id = "l00056" name = "l00056" ></ a >< span class = "lineno" > 56</ span >< span class = "comment" > //#define RTABMAP_POINTMATCHER</ span ></ div >
< div class = "line" >< a id = "l00057" name = "l00057" ></ a >< span class = "lineno" > 57</ span >< span class = "comment" > //#define RTABMAP_CCCORELIB</ span ></ div >
< div class = "line" >< a id = "l00058" name = "l00058" ></ a >< span class = "lineno" > 58</ span >< span class = "comment" > //#define RTABMAP_OPEN3D</ span ></ div >
< div class = "line" >< a id = "l00059" name = "l00059" ></ a >< span class = "lineno" > 59</ span >< span class = "comment" > //#define RTABMAP_FASTCV</ span ></ div >
< div class = "line" >< a id = "l00060" name = "l00060" ></ a >< span class = "lineno" > 60</ span >< span class = "comment" > //#define RTABMAP_OPENGV</ span ></ div >
< div class = "line" >< a id = "l00061" name = "l00061" ></ a >< span class = "lineno" > 61</ span >< span class = "comment" > //#define RTABMAP_PDAL</ span ></ div >
< div class = "line" >< a id = "l00062" name = "l00062" ></ a >< span class = "lineno" > 62</ span >< span class = "comment" > //#define RTABMAP_LIBLAS</ span ></ div >
< div class = "line" >< a id = "l00063" name = "l00063" ></ a >< span class = "lineno" > 63</ span >< span class = "comment" > //#define RTABMAP_CUDASIFT</ span ></ div >
< div class = "line" >< a id = "l00064" name = "l00064" ></ a >< span class = "lineno" > 64</ span >< span class = "comment" > //#define RTABMAP_LOAM</ span ></ div >
< div class = "line" >< a id = "l00065" name = "l00065" ></ a >< span class = "lineno" > 65</ span >< span class = "comment" > //#define RTABMAP_FLOAM</ span ></ div >
< div class = "line" >< a id = "l00066" name = "l00066" ></ a >< span class = "lineno" > 66</ span >< span class = "comment" > //#define RTABMAP_LIOSAM</ span ></ div >
< div class = "line" >< a id = "l00067" name = "l00067" ></ a >< span class = "lineno" > 67</ span >< span class = "preprocessor" > #define RTABMAP_DC1394</ span ></ div >
< div class = "line" >< a id = "l00068" name = "l00068" ></ a >< span class = "lineno" > 68</ span >< span class = "comment" > //#define RTABMAP_FLYCAPTURE2</ span ></ div >
< div class = "line" >< a id = "l00069" name = "l00069" ></ a >< span class = "lineno" > 69</ span >< span class = "comment" > //#define RTABMAP_ZED</ span ></ div >
< div class = "line" >< a id = "l00070" name = "l00070" ></ a >< span class = "lineno" > 70</ span >< span class = "comment" > //#define RTABMAP_ZEDOC</ span ></ div >
< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" > 71</ span >< span class = "comment" > //#define RTABMAP_REALSENSE</ span ></ div >
< div class = "line" >< a id = "l00072" name = "l00072" ></ a >< span class = "lineno" > 72</ span >< span class = "comment" > //#define RTABMAP_REALSENSE_SLAM</ span ></ div >
< div class = "line" >< a id = "l00073" name = "l00073" ></ a >< span class = "lineno" > 73</ span >< span class = "comment" > //#define RTABMAP_REALSENSE2</ span ></ div >
< div class = "line" >< a id = "l00074" name = "l00074" ></ a >< span class = "lineno" > 74</ span >< span class = "comment" > //#define RTABMAP_MYNTEYE</ span ></ div >
< div class = "line" >< a id = "l00075" name = "l00075" ></ a >< span class = "lineno" > 75</ span >< span class = "comment" > //#define RTABMAP_DEPTHAI</ span ></ div >
< div class = "line" >< a id = "l00076" name = "l00076" ></ a >< span class = "lineno" > 76</ span >< span class = "comment" > //#define RTABMAP_XVSDK</ span ></ div >
< div class = "line" >< a id = "l00077" name = "l00077" ></ a >< span class = "lineno" > 77</ span >< span class = "comment" > //#define RTABMAP_ORBBEC_SDK</ span ></ div >
< div class = "line" >< a id = "l00078" name = "l00078" ></ a >< span class = "lineno" > 78</ span >< span class = "comment" > //#define RTABMAP_OCTOMAP</ span ></ div >
< div class = "line" >< a id = "l00079" name = "l00079" ></ a >< span class = "lineno" > 79</ span >< span class = "comment" > //#define RTABMAP_GRIDMAP</ span ></ div >
< div class = "line" >< a id = "l00080" name = "l00080" ></ a >< span class = "lineno" > 80</ span >< span class = "comment" > //#define RTABMAP_CPUTSDF</ span ></ div >
< div class = "line" >< a id = "l00081" name = "l00081" ></ a >< span class = "lineno" > 81</ span >< span class = "comment" > //#define RTABMAP_ALICE_VISION</ span ></ div >
< div class = "line" >< a id = "l00082" name = "l00082" ></ a >< span class = "lineno" > 82</ span >< span class = "comment" > //#define RTABMAP_OPENCHISEL</ span ></ div >
< div class = "line" >< a id = "l00083" name = "l00083" ></ a >< span class = "lineno" > 83</ span >< span class = "comment" > //#define RTABMAP_FOVIS</ span ></ div >
< div class = "line" >< a id = "l00084" name = "l00084" ></ a >< span class = "lineno" > 84</ span >< span class = "comment" > //#define RTABMAP_VISO2</ span ></ div >
< div class = "line" >< a id = "l00085" name = "l00085" ></ a >< span class = "lineno" > 85</ span >< span class = "comment" > //#define RTABMAP_DVO</ span ></ div >
< div class = "line" >< a id = "l00086" name = "l00086" ></ a >< span class = "lineno" > 86</ span >< span class = "comment" > //#define RTABMAP_OKVIS</ span ></ div >
< div class = "line" >< a id = "l00087" name = "l00087" ></ a >< span class = "lineno" > 87</ span >< span class = "comment" > //#define RTABMAP_MSCKF_VIO</ span ></ div >
< div class = "line" >< a id = "l00088" name = "l00088" ></ a >< span class = "lineno" > 88</ span >< span class = "comment" > //#define RTABMAP_VINS_FUSION</ span ></ div >
< div class = "line" >< a id = "l00089" name = "l00089" ></ a >< span class = "lineno" > 89</ span >< span class = "comment" > //#define RTABMAP_OPENVINS</ span ></ div >
< div class = "line" >< a id = "l00090" name = "l00090" ></ a >< span class = "lineno" > 90</ span >< span class = "comment" > //#define RTABMAP_CUVSLAM</ span ></ div >
< div class = "line" >< a id = "l00091" name = "l00091" ></ a >< span class = "lineno" > 91</ span >< span class = "comment" > //#define RTABMAP_ORB_SLAM </ span ></ div >
< div class = "line" >< a id = "l00092" name = "l00092" ></ a >< span class = "lineno" > 92</ span >< span class = "preprocessor" > #define RTABMAP_ORB_OCTREE</ span ></ div >
< div class = "line" >< a id = "l00093" name = "l00093" ></ a >< span class = "lineno" > 93</ span >< span class = "comment" > //#define RTABMAP_TORCH</ span ></ div >
< div class = "line" >< a id = "l00094" name = "l00094" ></ a >< span class = "lineno" > 94</ span >< span class = "comment" > //#define RTABMAP_PYTHON</ span ></ div >
< div class = "line" >< a id = "l00095" name = "l00095" ></ a >< span class = "lineno" > 95</ span >< span class = "preprocessor" > #define RTABMAP_MADGWICK</ span ></ div >
< div class = "line" >< a id = "l00096" name = "l00096" ></ a >< span class = "lineno" > 96</ span >< span class = "comment" > //#define RTABMAP_APRILTAG</ span ></ div >
< div class = "line" >< a id = "l00097" name = "l00097" ></ a >< span class = "lineno" > 97</ span >< span class = "comment" > //#define RTABMAP_APRILTAG_WITH_ARUCO</ span ></ div >
< div class = "line" >< a id = "l00098" name = "l00098" ></ a >< span class = "lineno" > 98</ span > </ div >
< div class = "line" >< a id = "l00099" name = "l00099" ></ a >< span class = "lineno" > 99</ span >< span class = "preprocessor" > #include < pcl/pcl_config.h> </ span ></ div >
< div class = "line" >< a id = "l00100" name = "l00100" ></ a >< span class = "lineno" > 100</ span > </ div >
< div class = "line" >< a id = "l00101" name = "l00101" ></ a >< span class = "lineno" > 101</ span >< span class = "preprocessor" > #if PCL_VERSION_COMPARE(> , 1, 11, 1)</ span ></ div >
< div class = "line" >< a id = "l00102" name = "l00102" ></ a >< span class = "lineno" > 102</ span >< span class = "preprocessor" > #include < pcl/types.h> </ span ></ div >
< div class = "line" >< a id = "l00103" name = "l00103" ></ a >< span class = "lineno" > 103</ span >< span class = "preprocessor" > #define RTABMAP_PCL_INDEX pcl::index_t</ span ></ div >
< div class = "line" >< a id = "l00104" name = "l00104" ></ a >< span class = "lineno" > 104</ span >< span class = "preprocessor" > #elif PCL_VERSION_COMPARE(> =, 1, 10, 0)</ span ></ div >
< div class = "line" >< a id = "l00105" name = "l00105" ></ a >< span class = "lineno" > 105</ span >< span class = "preprocessor" > #define RTABMAP_PCL_INDEX std::uint32_t</ span ></ div >
< div class = "line" >< a id = "l00106" name = "l00106" ></ a >< span class = "lineno" > 106</ span >< span class = "preprocessor" > #else</ span ></ div >
< div class = "line" >< a id = "l00107" name = "l00107" ></ a >< span class = "lineno" > 107</ span >< span class = "preprocessor" > #include < pcl/pcl_macros.h> </ span ></ div >
< div class = "line" >< a id = "l00108" name = "l00108" ></ a >< span class = "lineno" > 108</ span >< span class = "preprocessor" > #define RTABMAP_PCL_INDEX pcl::uint32_t</ span ></ div >
< div class = "line" >< a id = "l00109" name = "l00109" ></ a >< span class = "lineno" > 109</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00110" name = "l00110" ></ a >< span class = "lineno" > 110</ span > </ div >
< div class = "line" >< a id = "l00111" name = "l00111" ></ a >< span class = "lineno" > 111</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* VERSION_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
< div class = "line" >< a id = "l00112" name = "l00112" ></ a >< span class = "lineno" > 112</ span > </ div >
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