MacOSX: (g2o) Fixed cholmod library not found. New ICP parameter: "Icp/Epsilon". Fixed null ICP_inliers_ratio with odometry statistics.

corelib/include/rtabmap/core/OdometryInfo.h

@@ -53,7 +53,7 @@ public:
 	bool lost;
 	int matches;
 	int inliers;
-	int icpInliersRatio;
+	float icpInliersRatio;
 	float variance;
 	int features;
 	int localMapSize;

corelib/include/rtabmap/core/Parameters.h

@@ -398,6 +398,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Icp, DownsamplingStep,          int, 1, 	    "Downsampling step size (1=no sampling). This is done before uniform sampling.");
 	RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05,  "Max distance for point correspondences.");
 	RTABMAP_PARAM(Icp, Iterations,                int, 10, 		"Max iterations.");
+	RTABMAP_PARAM(Icp, Epsilon,                   float, 0.0,   "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
 	RTABMAP_PARAM(Icp, CorrespondenceRatio,       float, 0.3,   "Ratio of matching correspondences to accept the transform.");
 	RTABMAP_PARAM(Icp, PointToPlane,              bool, false, 	"Use point to plane ICP.");
 	RTABMAP_PARAM(Icp, PointToPlaneNormalNeighbors, int, 20,    "Number of neighbors to compute normals for point to plane.");

corelib/include/rtabmap/core/RegistrationIcp.h

@@ -61,6 +61,7 @@ private:
 	int _downsamplingStep;
 	float _maxCorrespondenceDistance;
 	int _maxIterations;
+	float _epsilon;
 	float _correspondenceRatio;
 	bool _pointToPlane;
 	int _pointToPlaneNormalNeighbors;

corelib/include/rtabmap/core/util3d_registration.h

@@ -75,6 +75,7 @@ Transform RTABMAP_EXP icp(
 		int maximumIterations,
 		bool & hasConverged,
 		pcl::PointCloud<pcl::PointXYZ> & cloud_source_registered,
+		double epsilon = 0,
 		bool icp2D = false);
 
 Transform RTABMAP_EXP icpPointToPlane(