From 4948dfa9d562873cd9111f6a7a67f13312ce8752 Mon Sep 17 00:00:00 2001
From: Aaron Ray <aaronray@mit.edu>
Date: Mon, 24 Nov 2025 14:17:52 +0000
Subject: [PATCH] Color anti-frontiers in FrontierColorAdaptor

---
 .../include/hydra_visualizer/adapters/graph_color.h           | 1 +
 hydra_visualizer/src/adapters/graph_color.cpp                 | 4 ++++
 2 files changed, 5 insertions(+)

diff --git a/hydra_visualizer/include/hydra_visualizer/adapters/graph_color.h b/hydra_visualizer/include/hydra_visualizer/adapters/graph_color.h
index 6fb03f6..b0b206f 100644
--- a/hydra_visualizer/include/hydra_visualizer/adapters/graph_color.h
+++ b/hydra_visualizer/include/hydra_visualizer/adapters/graph_color.h
@@ -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);
diff --git a/hydra_visualizer/src/adapters/graph_color.cpp b/hydra_visualizer/src/adapters/graph_color.cpp
index fb414af..a85bc3b 100644
--- a/hydra_visualizer/src/adapters/graph_color.cpp
+++ b/hydra_visualizer/src/adapters/graph_color.cpp
@@ -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();