Optimizer: added optimizeIncremental() method to solve optimization error problems when re-opening the database (when graph should be re-optimized from raw odometry poses, not latest optimized poses, #172)

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -212,6 +212,8 @@ private:
 	bool savedMaximized_;
 	bool firstCall_;
 	QString iniFilePath_;
+
+	bool useLastOptimizedGraphAsGuess_;
 };
 
 }