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  /**
   * @brief Common definitions for usage by the modules
   * @file common.h
   * @author Bastian Jäeger <bastian@auterion.com>
   */
  
  #pragma once
  
  #include <Eigen/Dense>
  #include <iostream>
  
  inline static const std::string NED_FRAME = "ned";
  inline static const std::string BASE_LINK_FRAME = "base_link";
  inline static const std::string CAMERA_LINK_FRAME = "camera_link";
  
  #include <image_downsampler/DataTypes.h>
  #include <image_downsampler/ImageDownsampler.h>
  
  template <typename T>
  struct ExtendedDownsampledImage {
      DownsampledImage<T> downsampled_image;
  
      Eigen::Vector3f position;
      Eigen::Quaternionf orientation;
  
      int64_t timestamp_ns;
  };
  
  using ExtendedDownsampledImageF = ExtendedDownsampledImage<float>;
  