快捷键

Ctrl + `  打开默认终端;Ctrl + Shift + `  新建新的终端;Ctrl + Shift + Y  打开调试控制台,然后再自行切换终端选项;ps: ` 在键盘数字1的左边。

安装clang

sudo apt-get install clang

VScodeDebug

这里对vscode配置一般情况的cpp调试做个记录：

1、整体思路就是首先按照常规方法进行mkdir build && cd build && cmake.. && make （这一步可以在vscode的终端完成，也可以在系统终端完成，无所谓。但是为了少开点界面就在vscode里面完成比较好）生成可执行文件，然后使用vscode进行单步。

2、配置launch文件：点击左侧边栏的Debug图标（Ctrl+Shift+D)，再点上方的齿轮图标configure，点击default configure就能自动生成launch.json文件。进入launch文件界面可以看到路径为.vscode/launch.json/Launch Targets/(gbd)Launch.

3、修改launch文件

{    "version": "0.2.0",    "configurations": [        {            "name": "(gdb) Launch",            "type": "cppdbg",            "request": "launch",            "program": "${workspaceFolder}/build/app/testMonoBA", //此路径更改为最终生成的可执行文件路径以及可执行文件名称            "args": [],            "stopAtEntry": false,            "cwd": "${workspaceFolder}",            "environment": [],            "externalConsole":false,//将此处的true改为false,不然他会调用系统的终端进行现实            "MIMode": "gdb",            "setupCommands": [                {                    "description": "Enable pretty-printing for gdb",                    "text": "-enable-pretty-printing",                    "ignoreFailures": true                }            ],        }    ]}

4、修改CMakeLists.txt文件

cmake_minimum_required(VERSION 2.8)project(slam_demo)set(DEFAULT_BUILD_TYPE "Debug")  #修改处，讲release改为debug，也可以直接删除if (NOT CMAKE_BUILD_TYPE)    message(STATUS "Setting build type to '${DEFAULT_BUILD_TYPE}' as none was specified.")    set(CMAKE_BUILD_TYPE "${DEFAULT_BUILD_TYPE}" CACHE            STRING "Choose the type of build." FORCE)    # Set the possible values of build type for cmake-gui    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS            "Debug" "Release" "MinSizeRel" "RelWithDebInfo")endif ()set(CMAKE_CXX_FLAGS "-std=c++11")FIND_PACKAGE( OpenMP REQUIRED)if(OPENMP_FOUND)    message("OPENMP FOUND")    ADD_DEFINITIONS(-DUSE_OPENMP)    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")endif()#set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -Wno-reorder" CACHE STRING "" FORCE)#set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -DNDEBUG -Wno-reorder -O2" CACHE STRING "" FORCE)set(CMAKE_CXX_FLAGS_DEBUG "{CMAKE_CXX_FLAGS} -o0 -ggbd")  #添加语句add_compile_options(-g)   #添加语句list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")option(BUILD_APPS "Build APPs for slam course" YES)option(BUILD_TESTS "Build test for slam course" No)# third party libs# eigenfind_package(Eigen REQUIRED)include_directories(${EIGEN_INCLUDE_DIR})# opencvfind_package(OpenCV 4 REQUIRED)include_directories(${OpenCV_INCLUDE_DIRS})# glogfind_package(Glog REQUIRED)include_directories(${GLOG_INCLUDE_DIRS})# sophusinclude_directories(${PROJECT_SOURCE_DIR}/thirdparty/Sophus)include_directories(${PROJECT_SOURCE_DIR})add_subdirectory(frontend)add_subdirectory(backend)add_subdirectory(utils)if (BUILD_APPS)    add_subdirectory(app)endif ()if (BUILD_TESTS)    enable_testing()    add_subdirectory(test)endif ()

5、完成以上步骤后，重新进行编译，然后vscode中的调试一栏下面的就不再是灰色，可以进行单步调试。

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