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Color anti-frontiers in FrontierColorAdaptor #48

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Color anti-frontiers in FrontierColorAdaptor #48

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1 change: 1 addition & 0 deletions hydra_visualizer/include/hydra_visualizer/adapters/graph_color.h
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Original file line number Diff line number Diff line change
Expand Up @@ -206,6 +206,7 @@ struct FrontierColorAdapter : GraphColorAdapter {
spark_dsg::Color predicted{0, 0, 255};
spark_dsg::Color active{0, 255, 0};
spark_dsg::Color archived{255, 0, 0};
spark_dsg::Color anti_frontier{0, 255, 255};
} const config;

explicit FrontierColorAdapter(const Config& config);
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4 changes: 4 additions & 0 deletions hydra_visualizer/src/adapters/graph_color.cpp
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Expand Up @@ -200,6 +200,10 @@ Color FrontierColorAdapter::getColor(const DynamicSceneGraph&,
return config.predicted;
}

if (attrs.anti_frontier) {
return config.anti_frontier;
}

return attrs.active_frontier ? config.active : config.archived;
} catch (const std::bad_cast&) {
return Color();
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