rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded.

Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.

app/android/jni/jni_interface.cpp

@@ -192,6 +192,12 @@ Java_com_introlab_rtabmap_RTABMapLib_setFullResolution(
 	return app.setFullResolution(enabled);
 }
 JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setAppendMode(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setAppendMode(enabled);
+}
+JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setDataRecorderMode(
 		JNIEnv*, jobject, bool enabled)
 {
@@ -234,9 +240,11 @@ Java_com_introlab_rtabmap_RTABMapLib_resetMapping(
 
 JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_save(
-		JNIEnv* env, jobject)
+		JNIEnv* env, jobject, jstring databasePath)
 {
-	return app.save();
+	std::string databasePathC;
+	GetJStringContent(env,databasePath,databasePathC);
+	return app.save(databasePathC);
 }
 
 JNIEXPORT bool JNICALL