Retrieval margin spreading +2

Rollback change about last location in WM not used in posterior (now it is)
In consoleApp, surf extraction is done outside the rtabmap processing

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@295 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/src/Rtabmap.cpp

@@ -892,7 +892,7 @@ void Rtabmap::process()
 						// We are loosing the next loop closures (it
 						// can be temporary occlusions/bad images),
 						//increment the retrieval margin
-						++_spreadMargin;
+						_spreadMargin+=2;
 						UDEBUG("Margin++");
 					}
 					//else don't change the margin