I am a huge fan of your library. Currently I am working with the pipeline.integration class. Personally, I think it could be very nice to have the symmetric version of the "integrate" function, therefore a "deintegrate" that is able to remove from the current volume some previously integrated data at a specific position. Indeed, as stated in "BundleFusion" paper from 2017, the TSDF is symmetric, so it is possible to go backward. This is particularly helpful in a pipeline such as the one of BundleFusion, where newly optimized poses can be used to update the model in online fashion.
Thanks in advance,
Marco