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/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