0.16.0: Database updated with Data.empty_cells, Admin.opt_map, Admin.opt_map_x_min and Admin.opt_map_y_min fields. Changed Parameter Grid/ProjRayTracing to Grid/RayTracing (OctoMap ray tracing done for 3D local grids). Improved OctoMap performance.

corelib/src/DBDriverSqlite3.h

@@ -89,6 +89,7 @@ private:
 			int nodeId,
 			const cv::Mat & ground,
 			const cv::Mat & obstacles,
+			const cv::Mat & empty,
 			float cellSize,
 			const cv::Point3f & viewpoint) const;
 
@@ -163,6 +164,7 @@ private:
 			int nodeId,
 			const cv::Mat & ground,
 			const cv::Mat & obstacles,
+			const cv::Mat & empty,
 			float cellSize,
 			const cv::Point3f & viewpoint) const;