getLabels

[boazMgm]

Hi,
Thanks for the great work.
I have a few questions regarding the method getLabels():

1. just to make sure, is the input for the function is a N x 3 point cloud array or should the point cloud be processed first in some manner?
2. Currently, the method returns 3 different values, -1, 0, 1. what is the meaning of the -1? is that stands for unknown value?
3. this one is a little off the main topic. suppose I use the ROS service to retrieve the binary map, I don't understand how the different methods like setProbMiss/setProbHit can affect the map if it's already binary.

Thanks again