<commit_before>/** @file
    @brief Header

    @date 2015

    @author
    Sensics, Inc.
    <http://sensics.com/osvr>
*/

// Copyright 2015 Sensics, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// 	http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef INCLUDED_Types_h_GUID_819757A3_DE89_4BAD_3BF5_6FE152F1EA08
#define INCLUDED_Types_h_GUID_819757A3_DE89_4BAD_3BF5_6FE152F1EA08

// Internal Includes
#include "ConfigParams.h"

// Library/third-party includes
#include <opencv2/features2d/features2d.hpp>

// Standard includes
#include <vector>
#include <list>
#include <string>
#include <memory>
#include <functional>

namespace osvr {
namespace vbtracker {
/// @todo Remove when we no longer assume a single camera or monotonic camera
/// timestamps, and the build will break in a few places
/// where known "gotchas" exist
    #define OSVR_UVBI_ASSUME_SINGLE_CAMERA
    /// @todo Remove when we no longer assume that IMU reports arrive before video reports with same timestamps.
    #define OSVR_UVBI_ASSUME_CAMERA_ALWAYS_SLOWER


    class Led;
    class LedIdentifier;

    typedef std::vector<cv::Point3f> Point3Vector;

    typedef std::vector<cv::Vec3d> Vec3Vector;

    typedef std::vector<std::string> PatternStringList;

    typedef std::string LedPatternWrapped; //< Pattern repeated almost twice
    typedef std::vector<LedPatternWrapped>
        PatternList; //< Ordered set of patterns to search

    typedef std::vector<cv::KeyPoint> KeyPointList;
    typedef KeyPointList::iterator KeyPointIterator;

    typedef float Brightness;
    typedef std::list<Brightness> BrightnessList;
    typedef std::pair<Brightness, Brightness> BrightnessMinMax;

    typedef std::unique_ptr<LedIdentifier> LedIdentifierPtr;

    typedef std::list<Led> LedGroup;
    using LedPtrList = std::vector<Led *>;

    struct LedMeasurement {

        LedMeasurement() = default;
        explicit LedMeasurement(cv::KeyPoint const &kp)
            : loc(kp.pt), brightness(kp.size), diameter(kp.size),<commit_msg>Style<commit_after>/** @file
    @brief Header

    @date 2015

    @author
    Sensics, Inc.
    <http://sensics.com/osvr>
*/

// Copyright 2015 Sensics, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// 	http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef INCLUDED_Types_h_GUID_819757A3_DE89_4BAD_3BF5_6FE152F1EA08
#define INCLUDED_Types_h_GUID_819757A3_DE89_4BAD_3BF5_6FE152F1EA08

// Internal Includes
#include "ConfigParams.h"

// Library/third-party includes
#include <opencv2/features2d/features2d.hpp>

// Standard includes
#include <vector>
#include <list>
#include <string>
#include <memory>
#include <functional>

namespace osvr {
namespace vbtracker {
/// @todo Remove when we no longer assume a single camera or monotonic camera
/// timestamps, and the build will break in a few places
/// where known "gotchas" exist
#define OSVR_UVBI_ASSUME_SINGLE_CAMERA
/// @todo Remove when we no longer assume that IMU reports arrive before video
/// reports with same timestamps.
#define OSVR_UVBI_ASSUME_CAMERA_ALWAYS_SLOWER

    class Led;
    class LedIdentifier;

    typedef std::vector<cv::Point3f> Point3Vector;

    typedef std::vector<cv::Vec3d> Vec3Vector;

    typedef std::vector<std::string> PatternStringList;

    typedef std::string LedPatternWrapped; //< Pattern repeated almost twice
    typedef std::vector<LedPatternWrapped>
        PatternList; //< Ordered set of patterns to search

    typedef std::vector<cv::KeyPoint> KeyPointList;
    typedef KeyPointList::iterator KeyPointIterator;

    typedef float Brightness;
    typedef std::list<Brightness> BrightnessList;
    typedef std::pair<Brightness, Brightness> BrightnessMinMax;

    typedef std::unique_ptr<LedIdentifier> LedIdentifierPtr;

    typedef std::list<Led> LedGroup;
    using LedPtrList = std::vector<Led *>;

    struct LedMeasurement {

        LedMeasurement() = default;
        explicit LedMeasurement(cv::KeyPoint const &kp)
            : loc(kp.pt), brightness(kp.size), diameter(kp.size),
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