main.cc

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

#include "ros/ros.h"

using namespace std;
using namespace GVars3;

int main(int argc, char** argv)
{
  ros::init(argc, argv, "ptam");
  ROS_INFO("starting ptam with node name %s", ros::this_node::getName().c_str());

  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;

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

  try
  {
    std::cout<<"Gui is "<<(PtamParameters::fixparams().gui ? "on" : "off")<<std::endl; //make the singleton instantiate
    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;
  }
}