message: account for fact first block might be at (0,0,0)
diff: @@ -64,7 +64,7 @@ inline TsdfVoxel* TsdfIntegratorBase::allocateStorageAndGetVoxelPtr(
  const BlockIndex block_idx =
  getBlockIndexFromGlobalVoxelIndex(global_voxel_idx, voxels_per_side_inv_);
  - if (block_idx != *last_block_idx) {
  + if ((block_idx != *last_block_idx) || (*last_block == nullptr)) {
  *last_block = layer_->getBlockPtrByIndex(block_idx);
  *last_block_idx = block_idx;
  }
  