message: Make min_weight a constant.
diff: @@ -228,9 +228,11 @@ inline bool visualizeDistanceIntensityTsdfVoxelsSlice(
  const TsdfVoxel& voxel, const Point& coord, unsigned int free_plane_index,
  FloatingPoint free_plane_val, FloatingPoint voxel_size, double* intensity) {
  CHECK_NOTNULL(intensity);
  + constexpr float kMinWeight = 1e-3;
  +
  if (std::abs(coord(free_plane_index) - free_plane_val) <=
  (voxel_size / 2.0 + kFloatEpsilon)) {
  - if (voxel.weight > 1e-3) {
  + if (voxel.weight > kMinWeight) {
  *intensity = voxel.distance;
  return true;
  }
  @@ -252,8 +254,10 @@ inline bool visualizeDistanceIntensityEsdfVoxels(const EsdfVoxel& voxel,
  inline bool visualizeIntensityVoxels(const IntensityVoxel& voxel,
  const Point& /*coord*/,
  double* intensity) {
  + constexpr float kMinWeight = 1e-3;
  +
  CHECK_NOTNULL(intensity);
  - if (voxel.weight > 0.0) {
  + if (voxel.weight > kMinWeight) {
  *intensity = voxel.intensity;
  return true;
  }
  @@ -278,7 +282,8 @@ inline bool visualizeDistanceIntensityEsdfVoxelsSlice(
  inline bool visualizeOccupiedTsdfVoxels(const TsdfVoxel& voxel,
  const Point& /*coord*/,
  const float min_distance = 0.0) {
  - if (voxel.weight > 1e-3 && voxel.distance <= min_distance) {
  + constexpr float kMinWeight = 1e-3;
  + if (voxel.weight > kMinWeight && voxel.distance <= min_distance) {
  return true;
  }
  return false;
  