int WINAPI WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance, PSTR pScmdline, int iCmdshow)
{
System* system;
bool result;
// Create the system object.
system = new System;
if (!system)
{
return 0;
}
// Initialize and run the system object.
result = system->Initialize();
if (result)
{
system->Run();
}
// Shutdown and release the system object.
system->Shutdown();
delete system;
system = 0;
return 0;
}
int main()
{
cout << " Welcome to PTAMM " << endl;
cout << " ---------------- " << endl;
cout << " Parallel tracking and multiple mapping" << endl;
cout << " Copyright (C) Isis Innovation Limited 2009 " << endl;
cout << endl;
cout << " Parsing settings.cfg ...." << endl;
GUI.LoadFile("settings.cfg");
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;
}
return 0;
}
int main()
{
System* sys = new System();
sys->Run();
sys->Save();
sys->Exit();
return 0;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "mcptam");
ros::NodeHandle nh;
/*
ROSCONSOLE_AUTOINIT;
log4cxx::LoggerPtr my_logger = log4cxx::Logger::getLogger(ROSCONSOLE_DEFAULT_NAME);
// Set the logger for this package to output all statements
my_logger->setLevel(ros::console::g_level_lookup[ros::console::levels::Debug]);
*/
ROS_INFO(" Welcome to mcptam ");
ROS_INFO(" --------------- ");
ROS_INFO(" Multiple Camera Parallel Tracking and Mapping (MCPTAM");
ROS_INFO(" Copyright 2014 Adam Harmat, McGill University");
ROS_INFO(" Michael Tribou, University of Waterloo");
ROS_INFO(" ");
ROS_INFO(" Multi-Camera Parallel Tracking and Mapping (MCPTAM) is free software:");
ROS_INFO(" you can redistribute it and/or modify it under the terms of the GNU ");
ROS_INFO(" General Public License as published by the Free Software Foundation,");
ROS_INFO(" either version 3 of the License, or (at your option) any later");
ROS_INFO(" version.");
ROS_INFO(" ");
ROS_INFO(" This program is distributed in the hope that it will be useful,");
ROS_INFO(" but WITHOUT ANY WARRANTY; without even the implied warranty of");
ROS_INFO(" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the");
ROS_INFO(" GNU General Public License for more details.");
ROS_INFO(" ");
ROS_INFO(" You should have received a copy of the GNU General Public License");
ROS_INFO(" along with this program. If not, see <http://www.gnu.org/licenses/>.");
ROS_INFO(" ");
ROS_INFO(" Based on Parallel Tracking and Mapping (PTAM) software");
ROS_INFO(" Copyright 2008 Isis Innovation Limited");
ROS_INFO(" ");
LoadStaticParamsGeneral();
LoadStaticParamsClient();
LoadStaticParamsServer();
try
{
System sys;
sys.Run();
}
catch (CVD::Exceptions::All e)
{
ROS_ERROR("Failed to run mcptam; got exception. ");
ROS_ERROR(" Exception was: ");
ROS_ERROR_STREAM(e.what);
}
}
int _tmain(int argc, _TCHAR* argv[])
{
System* system = new System;
if(system->Initialize())
system->Run();
system->Shutdown();
delete system;
system = 0;
return 0;
}
int main()
{
System* engine = new System("3DS Loader and Renderer");
if (!engine->Initialize())
{
printf("Press any key to shutdown\n");
_getch();
return -1;
}
engine->Run();
engine->Shutdown();
return 0;
}
int CALLBACK WinMain(
_In_ HINSTANCE hInstance,
_In_opt_ HINSTANCE hPrevInstance,
_In_ LPSTR lpCmdLine,
_In_ int nCmdShow
)
{
#if DEBUG
_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF | _CRTDBG_CHECK_ALWAYS_DF);
#endif
System system;
system.Run();
return 0;
}
int APIENTRY WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance,
LPTSTR lpCmdLine, int nCmdShow)
{
System* system = System::GetInstance();
if (!system->Init(800, 600))
{
Error("系统初始化失败！");
return 1;
}
system->Run();
system->Cleanup();
return 0;
}
/*!
* \brief ConstructAndWrap.
* Creates the context for a thread, and run
*/
void ConstructAndWrap() {
// Read the settings
cout << " Parsing " << config_file << " and console" << endl;
GUI.LoadFile(config_file);
// Build the new context
s = new System(b_automated_start);
// Load the assets if needed
if (!AR_assets_file.empty()) {
cout << "Deferred loading taking place" << endl;
s->setARModel(AR_assets_file);
}
// Start the computations
is_slam_started = true;
cout << "Starting computations" << endl;
s->Run();
}
int WINAPI wWinMain( HINSTANCE hInstance, HINSTANCE hPrevInstance, LPWSTR lpCmdLine, int nCmdShow )
{
_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);
srand((unsigned)time(NULL));
RedirectIOToConsole();
System* system;
try
{
system = new System(false, false, 1440, 900);
system->Run();
delete system;
}
catch (exception& e)
{
MessageBoxA(NULL, e.what(), "Error", MB_ICONERROR | MB_OK);
}
return 0;
}
