From dcb9b68468a5495153d13bee35bb3ad5018ecec4 Mon Sep 17 00:00:00 2001
From: Aaron Ray <aaronray@mit.edu>
Date: Mon, 22 Jul 2024 12:26:37 +0000
Subject: [PATCH] anti-frontiers

---
 include/spark_dsg/node_attributes.h        | 1 +
 python/bindings/src/spark_dsg_bindings.cpp | 1 +
 src/node_attributes.cpp                    | 9 +++++++++
 3 files changed, 11 insertions(+)

diff --git a/include/spark_dsg/node_attributes.h b/include/spark_dsg/node_attributes.h
index 899c506..a536085 100644
--- a/include/spark_dsg/node_attributes.h
+++ b/include/spark_dsg/node_attributes.h
@@ -288,6 +288,7 @@ 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;
diff --git a/python/bindings/src/spark_dsg_bindings.cpp b/python/bindings/src/spark_dsg_bindings.cpp
index dc505d1..c072840 100644
--- a/python/bindings/src/spark_dsg_bindings.cpp
+++ b/python/bindings/src/spark_dsg_bindings.cpp
@@ -353,6 +353,7 @@ PYBIND11_MODULE(_dsg_bindings, 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",
diff --git a/src/node_attributes.cpp b/src/node_attributes.cpp
index 6ed0d71..617a718 100644
--- a/src/node_attributes.cpp
+++ b/src/node_attributes.cpp
@@ -309,6 +309,7 @@ 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;
 }
@@ -327,6 +328,13 @@ 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 {
@@ -347,6 +355,7 @@ 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 &&