Mainly remove assumption that Submap needs to contain a TsdfMap #41
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Move mapping time methods to base class. Update all TsdfMap/EsdfMap getters to TsdfLayer/EsdfLayer getters. Add id_to_submap getter. Update getNumberOfAllocatedBlocks and getMemorySize virtual methods for TsdfEsdfSubmap.
ntonci
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Summary:
The main idea was to be able to support SubmapTypes that do not contain TsdfMap (since in all the cases here we actually just want the layer). This might have some minor implications on Voxgraph (@victorreijgwart).
Unfortunately, I wasn't able to thoroughly test this so it would be good if you could check it quickly or point me to a bag file that is relevant to properly test this.