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/Optimizer.cpp

@@ -217,6 +217,10 @@ LinkIdKey(int id, Link::Type type) :
 		{
 			return true;
 		}
+		else if(k.type_ == Link::kNeighborMerged && type_ != Link::kNeighbor && type_ != Link::kNeighborMerged)
+		{
+			return false;
+		}
 		else
 		{
 			// normal link, sort by smallest to largest id
@@ -256,7 +260,7 @@ void Optimizer::getConnectedGraph(
 		}
 	}
 
-	while(nextPoses.size())
+	while(!nextPoses.empty())
 	{
 		// Fill up all nodes before landmarks
 		// For nodes, fill up all neightbor nodes before loop closure ones