diff --git a/corelib/include/rtabmap/core/OccupancyGrid.h b/corelib/include/rtabmap/core/OccupancyGrid.h
index 987f0e66..f500ec3f 100644
--- a/corelib/include/rtabmap/core/OccupancyGrid.h
+++ b/corelib/include/rtabmap/core/OccupancyGrid.h
@@ -44,6 +44,7 @@ public:
 	void parseParameters(const ParametersMap & parameters);
 	void setCellSize(float cellSize);
 	float getCellSize() const {return cellSize_;}
+	bool isGridFromDepth() const {return occupancyFromCloud_;}
 
 	template<typename PointT>
 	typename pcl::PointCloud<PointT>::Ptr segmentCloud(