rtabmapviz: added "-d" option to load gui settings from the specifed file (like rviz)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@791 f169173b-cf89-36c8-b27e-44dbe73f0c83

rtabmap/src/GuiWrapper.cpp

@@ -30,7 +30,22 @@ GuiWrapper::GuiWrapper(int & argc, char** argv)
 	ros::NodeHandle nh;
 	infoExTopic_ = nh.subscribe("rtabmap/infoEx", 1, &GuiWrapper::infoExReceivedCallback, this);
 	app_ = new QApplication(argc, argv);
-	mainWindow_ = new MainWindow(new PreferencesDialogROS());
+
+	QString configFile;
+	for(int i=1; i<argc; ++i)
+	{
+		if(strcmp(argv[i], "-d") == 0)
+		{
+			++i;
+			if(i < argc)
+			{
+				configFile = argv[i];
+			}
+			break;
+		}
+	}
+
+	mainWindow_ = new MainWindow(new PreferencesDialogROS(configFile));
 	mainWindow_->show();
 	mainWindow_->changeState(MainWindow::kMonitoring);
 	app_->connect( app_, SIGNAL( lastWindowClosed() ), app_, SLOT( quit() ) );

rtabmap/src/PreferencesDialogROS.cpp

@@ -18,8 +18,10 @@
 
 using namespace rtabmap;
 
-PreferencesDialogROS::PreferencesDialogROS()
+PreferencesDialogROS::PreferencesDialogROS(const QString & configFile) :
+		configFile_(configFile)
 {
+
 }
 
 PreferencesDialogROS::~PreferencesDialogROS()
@@ -27,6 +29,15 @@ PreferencesDialogROS::~PreferencesDialogROS()
 
 }
 
+QString PreferencesDialogROS::getIniFilePath()
+{
+	if(configFile_.isEmpty())
+	{
+		return PreferencesDialog::getIniFilePath();
+	}
+	return configFile_;
+}
+
 void PreferencesDialogROS::readCameraSettings(const QString & filePath)
 {
 	this->setInputRate(0);

rtabmap/src/PreferencesDialogROS.h

@@ -16,15 +16,20 @@ using namespace rtabmap;
 class PreferencesDialogROS : public PreferencesDialog
 {
 public:
-	PreferencesDialogROS();
+	PreferencesDialogROS(const QString & configFile);
 	virtual ~PreferencesDialogROS();
 
+	virtual QString getIniFilePath();
+
 protected:
 	virtual QString getParamMessage();
 
 	virtual void readCameraSettings(const QString & filePath);
 	virtual bool readCoreSettings(const QString & filePath);
 	virtual void writeSettings(const QString & filePath);
+
+private:
+	QString configFile_;
 };
 
 #endif /* PREFERENCESDIALOGROS_H_ */