classDiagram

App --> DataLoader
App --> Odometry
App --> Logger

DataLoader ..> Frame

Odometry ..> Pose

class App {
    -DataLoader dataloader
    -Odometry odometry
    -Logger logger
}

class DataLoader {
    +SetSequence(int sequence_index)
    +GetFrame() Frame
    +HasNext() bool
    +Next()
}

class Odometry {
    +Execute(Frame frame) Pose
}

class Logger {
    +SetLogname(String name)
    +Log(Pose pose)
}

class Frame {
    +Mat cam0
    +Mat cam1
    +Mat cam2
    +Mat cam3
    +Lidar lidar
}