message: Set occupancy vis to be voxel size by default.
diff: @@ -276,8 +276,9 @@ inline bool visualizeDistanceIntensityEsdfVoxelsSlice(
  }
  inline bool visualizeOccupiedTsdfVoxels(const TsdfVoxel& voxel,
  - const Point& /*coord*/) {
  - if (voxel.weight > 1e-3 && voxel.distance <= 0) {
  + const Point& /*coord*/,
  + const float min_distance = 0.0) {
  + if (voxel.weight > 1e-3 && voxel.distance <= min_distance) {
  return true;
  }
  return false;
  @@ -313,8 +314,7 @@ inline void createSurfacePointcloudFromTsdfLayer(
  pcl::PointCloud<pcl::PointXYZRGB>* pointcloud) {
  CHECK_NOTNULL(pointcloud);
  createColorPointcloudFromLayer<TsdfVoxel>(
  - layer,
  - std::bind(&visualizeNearSurfaceTsdfVoxels, ph::_1, ph::_2,
  + layer, std::bind(&visualizeNearSurfaceTsdfVoxels, ph::_1, ph::_2,
  surface_distance, ph::_3),
  pointcloud);
  }
  @@ -352,8 +352,7 @@ inline void createSurfaceDistancePointcloudFromTsdfLayer(
  pcl::PointCloud<pcl::PointXYZI>* pointcloud) {
  CHECK_NOTNULL(pointcloud);
  createColorPointcloudFromLayer<TsdfVoxel>(
  - layer,
  - std::bind(&visualizeDistanceIntensityTsdfVoxelsNearSurface, ph::_1,
  + layer, std::bind(&visualizeDistanceIntensityTsdfVoxelsNearSurface, ph::_1,
  ph::_2, surface_distance, ph::_3),
  pointcloud);
  }
  @@ -426,7 +425,9 @@ inline void createOccupancyBlocksFromTsdfLayer(
  const Layer<TsdfVoxel>& layer, const std::string& frame_id,
  visualization_msgs::MarkerArray* marker_array) {
  CHECK_NOTNULL(marker_array);
  - createOccupancyBlocksFromLayer<TsdfVoxel>(layer, &visualizeOccupiedTsdfVoxels,
  + createOccupancyBlocksFromLayer<TsdfVoxel>(
  + layer, std::bind(visualizeOccupiedTsdfVoxels, std::placeholders::_1,
  + std::placeholders::_2, layer.voxel_size()),
  frame_id, marker_array);
  }
  