How to set RTABMap parameter in C++ project?

Posted by LoganWade on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-set-RTABMap-parameter-in-C-project-tp1175.html

Hi,

I'm using the sample code to build a simple RTABMAP program.
There are lots of parameters and here introduced them.

I want to set some RTABMap parameters in C++ project and I only know using config file.
Are there any API provided?
For example, how can I do if I want to ...
  set the detected feature type (SIFT or SURF or...)
  set the registration approach (visual or ICP)
  set the graph optimization approach (TORO or G2O)
and so on.

Thanks a lot.
Wade