阅读PTAM代码笔记-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()

{

  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;

  GUI.LoadFile("settings.cfg"); //当内核使⽤⼀个exec函数执⾏C程序时，在调⽤main函数之前先调⽤⼀个特殊的启动例程，

                               //可执⾏程序将此例程指定为程序的起始地址。启动例程从内核获取命令⾏参数和环境变量，然后为调⽤main函数做好准备。

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

  atexit(GUI.StopParserThread); 

//atexit函数是一个特殊的函数，它是在正常程序退出时调用的函数，我们把他叫为登记函数（函数原型：int atexit (void (*)(void))）

// ⼀个进程可以登记若⼲个函数，这些函数由exit⾃动调⽤，这些函数被称为终⽌处理函数， atexit函数可以登记这些函数。

  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;

    }

}