message: Check for max_ray_length_m independent of allow_clear (fixes
diff: @@ -296,11 +296,12 @@ class MergedTsdfIntegrator : public TsdfIntegratorBase {
  FloatingPoint ray_distance = (point_C).norm();
  if (ray_distance < config_.min_ray_length_m) {
  continue;
  - } else if (config_.allow_clear &&
  - ray_distance > config_.max_ray_length_m) {
  + } else if (ray_distance > config_.max_ray_length_m) {
  + if (config_.allow_clear) {
  VoxelIndex voxel_index =
  getGridIndexFromPoint(point_G, voxel_size_inv_);
  (*clear_map)[voxel_index].push_back(pt_idx);
  + }
  continue;
  }
  