Creates a submap with num_cells x num_cells grid.

Constructs a blocking queue with infinite queue size.

Center of the next lower pixel, i.e., not necessarily the pixel containing (x, y). For each dimension, the largest pixel index so that the correspondi

Center of the next lower voxel, i.e., not necessarily the voxel containing (x, y, z). For each dimension, the largest voxel index so that the correspo

Clamps correspondece cost to be in the range [kMinCorrespondenceCost, kMaxCorrespondenceCost].

Clamps TSD to be in the range [min_tsd_, max_tsd_].

Clamps weight to be in the range [min_tsd_, max_tsd_].