DbViewer tool: added database's parameter overriding from arguments

introlab · Mar 29, 2024 · 3b73590 · 3b73590
1 parent 0ba79be
commit 3b73590
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Showing 3 changed files with 7 additions and 4 deletions.
diff --git a/guilib/include/rtabmap/gui/DatabaseViewer.h b/guilib/include/rtabmap/gui/DatabaseViewer.h
@@ -71,7 +71,7 @@ class RTABMAP_GUI_EXPORT DatabaseViewer : public QMainWindow
 public:
  DatabaseViewer(const QString & ini = QString(), QWidget * parent = 0);
  virtual ~DatabaseViewer();
- bool openDatabase(const QString & path);
+ bool openDatabase(const QString & path, const ParametersMap & overridenParameters = ParametersMap());
  bool isSavedMaximized() const {return savedMaximized_;}
  void showCloseButton(bool visible = true);
 

diff --git a/guilib/src/DatabaseViewer.cpp b/guilib/src/DatabaseViewer.cpp
@@ -809,7 +809,7 @@ void DatabaseViewer::openDatabase()
  }
 }
 
-bool DatabaseViewer::openDatabase(const QString & path)
+bool DatabaseViewer::openDatabase(const QString & path, const ParametersMap & overriddenParameters)
 {
  UDEBUG("Open database \"%s\"", path.toStdString().c_str());
  if(QFile::exists(path))
@@ -844,6 +844,9 @@ bool DatabaseViewer::openDatabase(const QString & path)
  // look if there are saved parameters
  ParametersMap parameters = dbDriver_->getLastParameters();
 
+ // add overridden parameters
+ uInsert(parameters, overriddenParameters);
+
  if(parameters.size())
  {
  const ParametersMap & currentParameters = ui_->parameters_toolbox->getParameters();

diff --git a/tools/DatabaseViewer/main.cpp b/tools/DatabaseViewer/main.cpp
@@ -55,9 +55,9 @@ int main(int argc, char * argv[])
 
  mainWindow->showNormal();
 
- if(argc == 2)
+ if(argc >= 2)
  {
- mainWindow->openDatabase(argv[1]);
+ mainWindow->openDatabase(argv[argc-1], rtabmap::Parameters::parseArguments(argc, argv, true));
  }
 
  // Now wait for application to finish