message: Fix tango interface.
diff: @@ -38,8 +38,8 @@ inline bool TangoLayerInterface::addBlockFromProto(
  TangoBlockInterface::Ptr block_ptr(new TangoBlockInterface(
  block_proto, max_ntsdf_voxel_weight_, meters_to_ntsdf_, audit));
  - const BlockIndex block_index =
  - getGridIndexFromOriginPoint(block_ptr->origin(), block_size_inv_);
  + const BlockIndex block_index = getGridIndexFromOriginPoint<BlockIndex>(
  + block_ptr->origin(), block_size_inv_);
  switch (strategy) {
  case TangoLayerInterface::BlockMergingStrategy::kProhibit:
  CHECK_EQ(block_map_.count(block_index), 0u)
  @@ -78,12 +78,12 @@ inline bool TangoLayerInterface::addBlockFromProto(
  inline bool TangoLayerInterface::isCompatible(
  const tsdf2::MapHeaderProto& layer_proto) const {
  bool compatible = true;
  - compatible &= (fabs(layer_proto.voxel_size() - voxel_size_)
  - <= VOXBLOX_TANGO_LAYER_INTERFACE_VOXEL_EPS);
  + compatible &= (fabs(layer_proto.voxel_size() - voxel_size_) <=
  + VOXBLOX_TANGO_LAYER_INTERFACE_VOXEL_EPS);
  // NOTE(mereweth@jpl.nasa.gov) - MapHeader voxels_per_volume_side is a double
  - compatible &= (fabs(layer_proto.voxels_per_volume_side()
  - - static_cast<double>(voxels_per_side_))
  - <= VOXBLOX_TANGO_LAYER_INTERFACE_VOXEL_EPS);
  + compatible &= (fabs(layer_proto.voxels_per_volume_side() -
  + static_cast<double>(voxels_per_side_)) <=
  + VOXBLOX_TANGO_LAYER_INTERFACE_VOXEL_EPS);
  if (!compatible) {
  LOG(INFO) << std::setprecision(10)
  @@ -101,8 +101,8 @@ inline bool TangoLayerInterface::isCompatible(
  inline bool TangoLayerInterface::isCompatible(
  const tsdf2::VolumeProto& block_proto) const {
  bool compatible = true;
  - compatible &= (fabs(block_proto.voxel_size() - voxel_size_)
  - <= VOXBLOX_TANGO_LAYER_INTERFACE_VOXEL_EPS);
  + compatible &= (fabs(block_proto.voxel_size() - voxel_size_) <=
  + VOXBLOX_TANGO_LAYER_INTERFACE_VOXEL_EPS);
  // NOTE(mereweth@jpl.nasa.gov) - Volume voxels_per_side is an int32
  compatible &=
  (block_proto.voxels_per_side() == static_cast<int>(voxels_per_side_));
  @@ -113,8 +113,7 @@ inline bool TangoLayerInterface::isCompatible(
  << ", voxels_per_side: " << voxels_per_side_;
  LOG(INFO) << std::setprecision(10)
  << "VolumeProto voxel_size: " << block_proto.voxel_size()
  - << ", voxels_per_side: "
  - << block_proto.voxels_per_side();
  + << ", voxels_per_side: " << block_proto.voxels_per_side();
  }
  return compatible;
  