rtabmap:

-Fixed map id not incremented on Odometry reset (identity transform was missed)
-Keeping maximum odometry variance between two loop closure updates
Odometry:
-removed parameters Odom/FeaturesRatio, Odom/LinearUpdate, Odom/AngularUpdate
-added parameter Odom/FillInfoData
-expended OdometryInfo class with features stuff
Gui:
-show inliers/outliers features in Odometry view

corelib/include/rtabmap/core/RtabmapThread.h

@@ -109,6 +109,8 @@ private:
 
 	Rtabmap * _rtabmap;
 	bool _paused;
+	Transform lastPose_;
+	float _variance;
 };
 
 } /* namespace rtabmap */