message: Trying to fix raising issue.
diff: @@ -28,6 +28,7 @@ void EsdfIntegrator::addNewRobotPosition(const Point& position) {
  // First set all in inner sphere to free.
  HierarchicalIndexMap block_voxel_list;
  timing::Timer sphere_timer("esdf/clear_radius/get_sphere");
  + LOG(INFO) << "Clear sphere radius: " << config_.clear_sphere_radius;
  utils::getAndAllocateSphereAroundPoint(position, config_.clear_sphere_radius,
  esdf_layer_, &block_voxel_list);
  sphere_timer.Stop();
  @@ -42,6 +43,12 @@ void EsdfIntegrator::addNewRobotPosition(const Point& position) {
  EsdfVoxel& esdf_voxel = block_ptr->getVoxelByVoxelIndex(voxel_index);
  // We can clear unobserved or hallucinated voxels.
  if (!esdf_voxel.observed || esdf_voxel.hallucinated) {
  + if (esdf_voxel.hallucinated) {
  + // If this was hallucinated before, RAISE its neighbors!
  + GlobalIndex global_index = getGlobalVoxelIndexFromBlockAndVoxelIndex(
  + kv.first, voxel_index, voxels_per_side_);
  + raise_.push(global_index);
  + }
  esdf_voxel.distance = config_.default_distance_m;
  esdf_voxel.observed = true;
  esdf_voxel.hallucinated = true;
  @@ -173,6 +180,13 @@ void EsdfIntegrator::updateFromTsdfBlocks(const BlockIndexList& tsdf_blocks,
  open_.push(global_index, esdf_voxel.distance);
  } else {
  // Not in the fixed band. Just copy the sign.
  + // One more corner case: flipping the hallucinated sign!
  + if (esdf_voxel.hallucinated &&
  + signum(esdf_voxel.distance) < signum(tsdf_voxel.distance)) {
  + raise_.push(global_index);
  + num_raise++;
  + }
  +
  esdf_voxel.distance =
  signum(tsdf_voxel.distance) * (config_.default_distance_m);
  esdf_voxel.fixed = false;
  