New rtabmap-reduceGraph CLI tool (#1655)

* New rtabmap-reduceGraph CLI tool

* fixed some edge cases

* Regenerating optimized map if there was one before reducing the graph

* addMoreLoopClosures: refactored how ctrl-c is handled to stop faster when no loop closures are added

* Added kilted status

* Make offline tool always propagate neighbor merged links

* removed a parameter

* fixed disconnected graph

* fixed --help

* Added error log on Kp/NNStrategy not compatible with huge vocabulary. ReduceGraph/DetectMoreLoopClosures: Make sure original parameters are saved back on closing. g2o: fixing optimizer to Levenberg for SBA to avoid [SetJac] infinite jac fatal error.

* exposing neighbor merged ratio parameter to the tool

* show param in log

* refactored detectMoreLoopClosures to ignore too close nodes in terms of neighbor links based on Mem/STMSize parameter. Reduce graph: added direction parameter.

* Simplified: removed ratio parameter, removed recursive reduction. Just don't reduce if a NM link is longer than maxDistance.

* Removed NNStrategy override, as it was still done on closing when we changed back to original params

* DBViewer: show missing links when showing OptimizedPoses in GraphView, fixed clicking on landmark links

* DetectMoreLoopClosures: Added support for min graph distance option in MainWindow and DbViewer

* slight renaming of ROS jobs

* reprocess: added option --params_last

corelib/src/FlannIndex.cpp

@@ -96,7 +96,7 @@ std::vector<unsigned char> FlannIndex::serializeIndex(bool computeChecksum) cons
 #else
 		UTimer timer;
 		const int headerSizeBytes = sizeof(int)*FLANN_INDEX_HEADER_SIZE;
-		std::vector<unsigned char> indexData(1024*1024*100 + headerSizeBytes); // Max 100 MB
+		std::vector<unsigned char> indexData(1024*1024*1024 + headerSizeBytes); // Max 1 GB
         FILE* indexDataPtr = fmemopen(indexData.data()+headerSizeBytes, indexData.size() - headerSizeBytes, "wb");
 		long bytes_written = 0;
         if (indexDataPtr) {