-Added the grid map in the 3D map view (pcl::TextureMesh, available only when pcl>=1.7.2). Refactored how 2d maps are created.

-Fixed export grid map on Mac OS X.


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1623 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/util3d.h

@@ -400,6 +400,8 @@ void RTABMAP_EXP rayTrace(const cv::Point2i & start,
 		cv::Mat & grid,
 		bool stopOnObstacle);
 
+cv::Mat RTABMAP_EXP convertMap2Image8U(const cv::Mat & map8S);
+
 } // namespace util3d
 } // namespace rtabmap