message: Futile attempts to determine why inc and batch don't quite match.
diff: @@ -175,8 +175,8 @@ class EsdfIntegrator {
  }
  }
  propagate_timer.Stop();
  - VLOG(3) << "[ESDF update]: Lower: " << num_lower
  - << " Raise: " << num_raise << " New: " << num_new;
  + VLOG(3) << "[ESDF update]: Lower: " << num_lower << " Raise: " << num_raise
  + << " New: " << num_new;
  timing::Timer raise_timer("esdf/raise_esdf");
  // Process the open set now.
  @@ -212,6 +212,10 @@ class EsdfIntegrator {
  EsdfVoxel& neighbor_voxel =
  neighbor_block->getVoxelByVoxelIndex(neighbor_voxel_index);
  + if (!neighbor_voxel.observed) {
  + continue;
  + }
  +
  if (!neighbor_voxel.in_queue) {
  open_.push(neighbor, neighbor_voxel.distance);
  neighbor_voxel.in_queue = true;
  @@ -306,7 +310,7 @@ class EsdfIntegrator {
  }
  // Don't bother propagating this -- can't make any active difference.
  - if (esdf_voxel.distance >= config_.default_distance_m) {
  + if (esdf_voxel.distance >= config_.max_distance_m) {
  esdf_voxel.in_queue = false;
  continue;
  }
  @@ -352,7 +356,7 @@ class EsdfIntegrator {
  continue;
  }
  - if (esdf_voxel.distance > 0.0 &&
  + if (esdf_voxel.distance >= 0.0 &&
  esdf_voxel.distance + distance_to_neighbor <
  neighbor_voxel.distance) {
  neighbor_voxel.distance = esdf_voxel.distance + distance_to_neighbor;
  @@ -366,7 +370,7 @@ class EsdfIntegrator {
  }
  }
  }
  - if (esdf_voxel.distance < 0.0 &&
  + /*if (esdf_voxel.distance < 0.0 &&
  esdf_voxel.distance - distance_to_neighbor >
  neighbor_voxel.distance) {
  neighbor_voxel.distance = esdf_voxel.distance - distance_to_neighbor;
  @@ -376,7 +380,7 @@ class EsdfIntegrator {
  open_.push(neighbors[i], neighbor_voxel.distance);
  neighbor_voxel.in_queue = true;
  }
  - }
  + } */
  }
  num_updates++;
  