message: changed voxel key alignment back
diff: @@ -186,7 +186,7 @@ class EsdfIntegrator {
  void pushNeighborsToOpen(const BlockIndex& block_index,
  const VoxelIndex& voxel_index) {
  - std::vector<VoxelKey, Eigen::aligned_allocator<VoxelKey>> neighbors;
  + std::vector<VoxelKey, VoxelKey> neighbors;
  std::vector<float> distances;
  std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i>>
  directions;
  @@ -228,7 +228,7 @@ class EsdfIntegrator {
  esdf_layer_->getBlockPtrByIndex(kv.first);
  // See if you can update the neighbors.
  - std::vector<VoxelKey, Eigen::aligned_allocator<VoxelKey>> neighbors;
  + std::vector<VoxelKey, VoxelKey> neighbors;
  std::vector<float> distances;
  std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i>>
  directions;
  @@ -303,7 +303,7 @@ class EsdfIntegrator {
  continue;
  }
  // See if you can update the neighbors.
  - std::vector<VoxelKey, Eigen::aligned_allocator<VoxelKey>> neighbors;
  + std::vector<VoxelKey, VoxelKey> neighbors;
  std::vector<float> distances;
  std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i>>
  directions;
  @@ -385,7 +385,7 @@ class EsdfIntegrator {
  // negative of the given direction.
  void getNeighborsAndDistances(
  const BlockIndex& block_index, const VoxelIndex& voxel_index,
  - std::vector<VoxelKey, Eigen::aligned_allocator<VoxelKey>>* neighbors,
  + std::vector<VoxelKey>* neighbors,
  std::vector<float>* distances,
  std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i>>*
  directions) {
  @@ -487,7 +487,7 @@ class EsdfIntegrator {
  // Raise set for updates; these are values that used to be in the fixed
  // frontier and now have a higher value.
  - std::queue<VoxelKey, std::deque<VoxelKey, Eigen::aligned_allocator<VoxelKey>>>
  + std::queue<VoxelKey>
  raise_;
  size_t esdf_voxels_per_side_;
  