Updated detect more loop closures with optimization check to accept (like in dbviewer). DBViewer: added Depth image edition dialog. GainCompensator: now doing it on 3 channels separatly. Export: removed gain's alpha option, added max polygons option, added brightness/contrast auto balance option

corelib/include/rtabmap/core/DBDriver.h

@@ -93,6 +93,7 @@ public:
 				const cv::Mat & obstacles,
 				float cellSize,
 				const cv::Point3f & viewpoint);
+	void updateDepthImage(int nodeId, const cv::Mat & image);
 
 public:
 	void addInfoAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;
@@ -181,6 +182,10 @@ private:
 				float cellSize,
 				const cv::Point3f & viewpoint) const = 0;
 
+	virtual void updateDepthImageQuery(
+					int nodeId,
+					const cv::Mat & image) const = 0;
+
 	virtual void addStatisticsQuery(const Statistics & statistics) const = 0;
 
 	// Load objects

corelib/include/rtabmap/core/util2d.h

@@ -142,6 +142,12 @@ cv::Mat RTABMAP_EXP fastBilateralFiltering(
 		float sigmaR = 0.05f,
 		bool earlyDivision = false);
 
+cv::Mat RTABMAP_EXP brightnessAndContrastAuto(
+		const cv::Mat & src,
+		const cv::Mat & mask,
+		float clipLowHistPercent=0,
+		float clipHighHistPercent=0);
+
 } // namespace util3d
 } // namespace rtabmap