Common.h

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//
// Created by christoph on 05.06.19.
//
 
#ifndef ROBDEKON_COMMON_H
#define ROBDEKON_COMMON_H
 
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
 
#include <VisionX/libraries/PointCloudGraph/PointXYZRGBLNormal.h>
#include <VisionX/libraries/PointCloudGraph/point_cloud_graph.h>
 
namespace boost
{
    struct vertex_timestamp_t
    {
        typedef vertex_property_tag kind;
    };
 
    struct vertex_confidence_t
    {
        typedef vertex_property_tag kind;
    };
 
} // namespace boost
 
namespace armarx
{
    typedef pcl::PointXYZRGBL PointT;
    typedef pcl::PointXYZRGBLNormal PointWithNormalT;
    typedef pcl::PointCloud<PointT> PointCloudT;
    typedef pcl::PointCloud<PointWithNormalT> PointCloudWithNormalT;
 
 
    typedef pcl::graph::point_cloud_graph<
        PointWithNormalT,
        boost::vecS,
        boost::undirectedS,
        // vertex properties
        boost::property<boost::vertex_color_t,
                        uint32_t,
                        boost::property<boost::vertex_timestamp_t,
                                        double,
                                        boost::property<boost::vertex_confidence_t, float>>>,
        // edge properties
        boost::property<boost::edge_weight_t, float, boost::property<boost::edge_index_t, int>>>
        CloudGraphWithTimestamp;
    typedef pcl::graph::point_cloud_graph<
        PointWithNormalT,
        boost::vecS,
        boost::undirectedS,
        // vertex properties
        boost::property<boost::vertex_color_t, uint32_t>,
        // edge properties
        boost::property<boost::edge_weight_t, float, boost::property<boost::edge_index_t, int>>>
        CloudGraph;
    typedef boost::subgraph<CloudGraph> Graph;
    typedef boost::subgraph<CloudGraphWithTimestamp> GraphWithTimestamp;
 
    typedef boost::shared_ptr<Graph> GraphPtr;
    typedef boost::shared_ptr<const Graph> GraphConstPtr;
    typedef boost::reference_wrapper<Graph> GraphRef;
    typedef boost::shared_ptr<GraphWithTimestamp> GraphWithTimestampPtr;
    typedef boost::shared_ptr<const GraphWithTimestamp> GraphWithTimestampConstPtr;
    typedef boost::reference_wrapper<GraphWithTimestamp> GraphWithTimestampRef;
 
    typedef typename boost::graph_traits<Graph>::vertex_descriptor VertexId;
    typedef typename boost::graph_traits<GraphWithTimestamp>::vertex_descriptor VertexWTsId;
    typedef typename boost::graph_traits<Graph>::edge_descriptor EdgeId;
    typedef typename boost::graph_traits<Graph>::vertex_iterator VertexIterator;
    typedef typename boost::graph_traits<Graph>::edge_iterator EdgeIterator;
    typedef typename boost::graph_traits<Graph>::adjacency_iterator AdjacencyIterator;
    typedef boost::property_map<CloudGraphWithTimestamp, boost::vertex_timestamp_t>::type
        TimestampMap;
    typedef boost::property_map<CloudGraphWithTimestamp, boost::vertex_confidence_t>::type
        ConfidenceMap;
} // namespace armarx
 
#endif //ROBDEKON_COMMON_H