From 3b735907c810923e7ec33cd5746d9239886bab48 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Fri, 29 Mar 2024 13:30:12 -0700
Subject: [PATCH] DbViewer tool: added database's parameter overriding from
 arguments

---
 guilib/include/rtabmap/gui/DatabaseViewer.h | 2 +-
 guilib/src/DatabaseViewer.cpp               | 5 ++++-
 tools/DatabaseViewer/main.cpp               | 4 ++--
 3 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/guilib/include/rtabmap/gui/DatabaseViewer.h b/guilib/include/rtabmap/gui/DatabaseViewer.h
index ede9f1d187..fb80247d9d 100644
--- 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
index 90f4aec213..9426db840c 100644
--- 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
index 3872cc4d91..0b96e41382 100644
--- 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