Fixed ProximityByTime wrong guess transform. Fixed Icp correspondence ratio computation when using voxel filter. OdometryResetEvent: added pose to constructor.

corelib/include/rtabmap/core/OdometryEvent.h

@@ -97,9 +97,12 @@ private:
 class OdometryResetEvent : public UEvent
 {
 public:
-	OdometryResetEvent(){}
+	OdometryResetEvent(const Transform & pose = Transform::getIdentity()){_pose = pose;}
 	virtual ~OdometryResetEvent() {}
 	virtual std::string getClassName() const {return "OdometryResetEvent";}
+	const Transform & getPose() const {return _pose;}
+private:
+	Transform _pose;
 };
 
 }

corelib/include/rtabmap/core/OdometryThread.h

@@ -65,6 +65,7 @@ private:
 	Odometry * _odometry;
 	unsigned int _dataBufferMaxSize;
 	bool _resetOdometry;
+	Transform _resetPose;
 };
 
 } // namespace rtabmap