message: Change to triangulated pose as output.
diff: @@ -15,7 +15,7 @@ template <typename VoxelType>
  bool getSurfaceDistanceAlongRay(const Layer<VoxelType>& layer,
  const Point& ray_origin,
  const Point& bearing_vector,
  - double max_distance, double* distance) {
  + double max_distance, Point* triangulated_pose) {
  // Make sure bearing vector is normalized.
  Point ray_direction = bearing_vector.normalized();
  @@ -67,7 +67,7 @@ bool getSurfaceDistanceAlongRay(const Layer<VoxelType>& layer,
  }
  if (surface_found) {
  - *distance = t;
  + *triangulated_pose = ray_origin + t * ray_direction;
  }
  return surface_found;
  