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

corelib/src/util3d_registration.cpp

@@ -294,6 +294,7 @@ Transform icp(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
 			  int maximumIterations,
 			  bool & hasConverged,
 			  pcl::PointCloud<pcl::PointXYZ> & cloud_source_registered,
+			  double epsilon,
 			  bool icp2D)
 {
 	pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> icp;
@@ -313,7 +314,7 @@ Transform icp(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
 	// Set the maximum number of iterations (criterion 1)
 	icp.setMaximumIterations (maximumIterations);
 	// Set the transformation epsilon (criterion 2)
-	//icp.setTransformationEpsilon (1e-8);
+	icp.setTransformationEpsilon (epsilon);
 	// Set the euclidean distance difference epsilon (criterion 3)
 	//icp.setEuclideanFitnessEpsilon (1);
 	//icp.setRANSACOutlierRejectionThreshold(maxCorrespondenceDistance);