message: Don't return unobserved points
diff: @@ -111,7 +111,8 @@ unsigned int EsdfMap::coordPlaneSliceGetDistance(
  Point origin = block.origin();
  if (std::abs(origin(free_plane_index) - free_plane_val)
  - > block.block_size() / 2.0) {
  + > block.block_size()) {
  + //> block.block_size() / 2.0) {
  //> esdf_layer_->block_size() / 2.0) {
  continue;
  }
  @@ -121,16 +122,20 @@ unsigned int EsdfMap::coordPlaneSliceGetDistance(
  Point coord = block.computeCoordinatesFromLinearIndex(linear_index);
  const EsdfVoxel& voxel = block.getVoxelByLinearIndex(linear_index);
  if (std::abs(coord(free_plane_index) - free_plane_val)
  - <= voxel.voxel_size() / 2.0) {
  + <= block.voxel_size()) {
  + //<= block.voxel_size() / 2.0) {
  //<= esdf_layer_->voxel_size() / 2.0) {
  double distance;
  if (voxel.observed) {
  distance = voxel.distance;
  }
  else {
  - distance = -1;
  + continue;
  + // TODO(mereweth@jpl.nasa.gov) - how to indicate unobserved?
  + //distance = 0;
  }
  + // TODO(mereweth@jpl.nasa.gov) - implement max points to return
  if (count < positions.cols()) {
  positions.col(count) = Eigen::Vector3d(coord.x(), coord.y(), coord.z());
  }
  