message: adding checks to ensure preconditions
diff: @@ -214,7 +214,7 @@ void SimpleTsdfIntegrator::integratePointCloud(const Transformation& T_G_C,
  const Colors& colors,
  const bool freespace_points) {
  timing::Timer integrate_timer("integrate");
  -
  + CHECK_EQ(points_C.size(), colors.size());
  ThreadSafeIndex index_getter(points_C.size());
  std::list<std::thread> integration_threads;
  @@ -277,6 +277,7 @@ void MergedTsdfIntegrator::integratePointCloud(const Transformation& T_G_C,
  const Colors& colors,
  const bool freespace_points) {
  timing::Timer integrate_timer("integrate");
  + CHECK_EQ(points_C.size(), colors.size());
  // Pre-compute a list of unique voxels to end on.
  // Create a hashmap: VOXEL INDEX -> index in original cloud.
  @@ -518,6 +519,7 @@ void FastTsdfIntegrator::integratePointCloud(const Transformation& T_G_C,
  const Colors& colors,
  const bool freespace_points) {
  timing::Timer integrate_timer("integrate");
  + CHECK_EQ(points_C.size(), colors.size());
  integration_start_time_ = std::chrono::steady_clock::now();
  