anti-frontiers from ROS1 (#78)

* anti-frontiers from ROS1

* Version bump

Author: GoldenZephyr

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
-project(spark_dsg VERSION 1.1.2)
+project(spark_dsg VERSION 1.1.3)
 
 set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

include/spark_dsg/node_attributes.h

@@ -292,6 +292,7 @@ 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;

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>spark_dsg</name>
-  <version>1.1.2</version>
+  <version>1.1.3</version>
   <description>Dynamic Scene Graph (DSG) type definitions and core library code</description>
 
   <author email="na26933@mit.edu">Nathan Hughes</author>

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "spark_dsg"
-version = "1.1.2"
+version = "1.1.3"
 description = "Library for representing 3D scene graphs"
 readme = "README.md"
 license = "BSD-3-Clause"

python/bindings/src/attributes.cpp

@@ -160,6 +160,7 @@ void init_attributes(py::module_& m) {
       .def_readwrite("deformation_connections", &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

@@ -328,6 +328,7 @@ 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: " << active_frontier;
   out << "\n  - num frontier voxels: " << num_frontier_voxels;
   return out;
 }
@@ -346,6 +347,12 @@ 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, 1, 3)) {
+    io::warnOutdatedHeader(header);
+  } else {
+    serialization::field("anti_frontier", anti_frontier);
+  }
 }
 
 bool PlaceNodeAttributes::is_equal(const NodeAttributes& other) const {
@@ -366,6 +373,7 @@ 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 &&