Post processing with rtabmap_ros and g2o.

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Hello,

I'm trying to make post-processing with my acquired cloud (with Asus XtionPRO Live), following: https://github.com/introlab/rtabmap/w... I need it because my clouds are messy, there are much offset duplicates. My problem is that i can't even tick "Sparse Bundle Adjustment (SBA)", it's grey like odometry and source in preferences but in this cases I think because it's not stand-alone app. Does SBA is part of stand-alone app only?
I have g2o installed but I'm not sure if I did it correctly. G2o was downloaded from https://github.com/RainerKuemmerle/g2o and followed Compilation instructions without any problems, but I'm new to Linux (Ubuntu 16.04) and i did it on Desktop. Should rtabmap recognize It or i need to paste g2o-master somewhere? In Graph Optimization i can choose only TORO, g2o and GTSAM ale unavailable so I think there is something wrong with installation but it proceed without problems.
My other question is about parameters, does https://github.com/introlab/rtabmap/w... is still up to date? I can't turn off ICP as told there, I decided to use GFTT+FREAK should i change they params or left default?
If informations are incomplete I'm sorry it's my first question and I use RoS/Linux for few days and sometimes I get confused, I need to assembly few pieces in my mind about how it works ;)

[EDIT] I realized when camera stand on my desk Odometry "shake" - it moves a little in diffrent directions, is this normal or i configurate something wrong and that's why my clouds are sloppy?

Thanks for answers.

[Second Part]
Thanks for fast reply! You helped me a lot but now I met other problem.
I deleted binaries and installed rtabmap from source. Now it sees g2o and few other libraries which i had installed. Another problem is that now i can't Clear cache/Delete memory because rtabmapviz is crashing when i press one of those buttons. Other thing is that performance slow down voxles at rtabmapviz are much bigger than before and camera move slowly. Does that addition libraries slowed down mapping process (i think it's slower but better)? When installed binaries again so I can clear cache/delete memory but it still don't recognize g2o and other libraries it sees only OpenCV and works fast.
Is there any way to repair clearing cache (Is this necessary or can i clear it manually)? Can u tell me whether this slowdown is normal (addional Freenect, Openni2, g2o, Octomap)?
Below I put my console log.

[rtabmap/rtabmapviz-3] process has died [pid 13192, exit code -11, cmd /home/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz -d -d /home/sky/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini rgb/image:=/camera/rgb/image_rect_color depmage:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud ...