style: directly set color to white. Cmake type specific.

Author: Kin-Zhang

.vscode/c_cpp_properties.json

@@ -0,0 +1,19 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "/usr/include",
+                "/usr/local/include",
+                "/usr/include/c++/10",
+                "${workspaceFolder}/ufomap/include",
+                "${workspaceFolder}/build/ufomap"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/g++-10",
+            "cppStandard": "c++20",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}

CMakeLists.txt

@@ -5,6 +5,11 @@ project(dufomap
 	DESCRIPTION "DUFOMap: Efficient Dynamic Awareness Mapping"
 	LANGUAGES CXX
 )
+set(CMAKE_CXX_STANDARD 20)
+set(CMAKE_CXX_STANDARD_REQUIRED True)
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE Release)
+endif()
 
 add_subdirectory(ufomap)
 include_directories(${CMAKE_SOURCE_DIR}/ufomap)

dufomap.cpp

@@ -403,8 +403,12 @@ int main(int argc, char* argv[])
 	ufo::PointCloudColor cloud_static;
 
 	for (auto& p : cloud_acc) {
-		if (!map.seenFree(p))
+		if (!map.seenFree(p)){
+			// NOTE: change to white color, comment if you want to keep the original color
+			if (static_cast<ufo::Color&>(p) == ufo::Color{0, 0, 0})
+				static_cast<ufo::Color&>(p) = ufo::Color{255, 255, 255};
 			cloud_static.push_back(p);
+		}
 	}
 
 	timing[5].stop();