main.cc

// Copyright 2008 Isis Innovation Limited
// This is the main extry point for PTAM
#include <stdlib.h>
#include <iostream>
#include <gvars3/instances.h>
#include "System.h"


using namespace std;
using namespace GVars3;

int main(int argc, char* argv[])
{
    cout << "  Welcome to PTAM " << endl;
    cout << "  --------------- " << endl;
    cout << "  Parallel tracking and mapping for Small AR workspaces" << endl;
    cout << "  Copyright (C) Isis Innovation Limited 2008 " << endl;
    cout << endl;
    cout << "  Parsing settings.cfg ...." << endl;

    if (argc > 1)
        GUI.LoadFile(argv[1]);

    GUI.StartParserThread(); // Start parsing of the console input
    atexit(GUI.StopParserThread);

    try
    {
        System s;
        s.Run();
    }
    catch(CVD::Exceptions::All e)
    {
        cout << endl;
        cout << "!! Failed to run system; got exception. " << endl;
        cout << "   Exception was: " << endl;
        cout << e.what << endl;
    }
}