RTAB-Map.exe can be started with parameters as arguments (in similar way than rtabmap-console)

app/src/main.cpp

@@ -47,6 +47,8 @@ int main(int argc, char* argv[])
 
 	/* Create tasks */
 	QApplication * app = new QApplication(argc, argv);
+
+	ParametersMap parameters = Parameters::parseArguments(argc, argv, true);
 	MainWindow * mainWindow = new MainWindow();
     app->installEventFilter(mainWindow); // to catch FileOpen events.
     
@@ -82,7 +84,11 @@ int main(int argc, char* argv[])
     
     if(!database.empty())
     {
-    	QMetaObject::invokeMethod(mainWindow, "openDatabase", Qt::QueuedConnection, Q_ARG(QString, QString(database.c_str())));
+    	mainWindow->openDatabase(database.c_str());
+    }
+    if(parameters.size())
+    {
+    	mainWindow->updateParameters(parameters);
     }
 
 	// Now wait for application to finish