anti-frontiers

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(spark_dsg VERSION 1.0.4)
+project(spark_dsg VERSION 1.0.5)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

include/spark_dsg/node_attributes.h

@@ -285,6 +285,7 @@ struct PlaceNodeAttributes : public SemanticNodeAttributes {
   bool real_place = true;
   bool need_cleanup = false;
   bool active_frontier = false;
+  bool anti_frontier = false;
   Eigen::Vector3d frontier_scale;
   Eigen::Quaterniond orientation;
   size_t num_frontier_voxels = 0;

python/bindings/src/bounding_box.cpp

@@ -34,6 +34,7 @@
  * -------------------------------------------------------------------------- */
 #include "spark_dsg/python/bounding_box.h"
 
+#include <pybind11/stl.h>
 #include <pybind11/eigen.h>
 #include <pybind11/pybind11.h>
 #include <spark_dsg/bounding_box.h>

python/bindings/src/node_attributes.cpp

@@ -205,6 +205,7 @@ void addBindings(pybind11::module_& module) {
                      &PlaceNodeAttributes::deformation_connections)
       .def_readwrite("real_place", &PlaceNodeAttributes::real_place)
       .def_readwrite("active_frontier", &PlaceNodeAttributes::active_frontier)
+      .def_readwrite("anti_frontier", &PlaceNodeAttributes::anti_frontier)
       .def_readwrite("frontier_scale", &PlaceNodeAttributes::frontier_scale)
       .def_property(
           "orientation",

src/node_attributes.cpp

@@ -295,6 +295,7 @@ std::ostream& PlaceNodeAttributes::fill_ostream(std::ostream& out) const {
   out << std::boolalpha << "\n  - real place: " << real_place;
   out << std::boolalpha << "\n  - need cleanup: " << need_cleanup;
   out << std::boolalpha << "\n  - active frontier: " << active_frontier;
+  out << std::boolalpha << "\n  - anti frontier: " << anti_frontier;
   out << "\n  - num frontier voxels: " << num_frontier_voxels;
   return out;
 }
@@ -313,6 +314,13 @@ void PlaceNodeAttributes::serialization_info() {
   serialization::field("orientation", orientation);
   serialization::field("need_cleanup", need_cleanup);
   serialization::field("num_frontier_voxels", num_frontier_voxels);
+
+  const auto& header = io::GlobalInfo::loadedHeader();
+  if (header.version < io::Version(1, 0, 5)) {
+    io::warnOutdatedHeader(header);
+  } else {
+    serialization::field("anti_frontier", anti_frontier);
+  }
 }
 
 bool PlaceNodeAttributes::is_equal(const NodeAttributes& other) const {
@@ -333,6 +341,7 @@ bool PlaceNodeAttributes::is_equal(const NodeAttributes& other) const {
          deformation_connections == derived->deformation_connections &&
          real_place == derived->real_place &&
          active_frontier == derived->active_frontier &&
+         anti_frontier == derived->anti_frontier &&
          frontier_scale == derived->frontier_scale &&
          quaternionsEqual(orientation, derived->orientation) &&
          need_cleanup == derived->need_cleanup &&