ubuntu安装 veloview_在Ubuntu上使用CMake无法达到C程序构建的断点

我试图在Ubuntu上使用VS Code调试C程序.我已成功构建项目.我使用bin / show dat命令从终端调用它并且它可以工作.

在VS Code中,我安装了C调试工具,而不是创建launch.json和tasks.json.这两个文件将在下面附上.

现在我可以按F5成功启动该程序,效果很好.但是主要功能第一行的断点没有被击中.

任何人都可以给我一些建议我该如何解决这个问题？

感谢您的时间.如果需要更多信息,请告诉我.

文件launch.json的内容

{

// Use IntelliSense to learn about possible attributes.

// Hover to view descriptions of existing attributes.

// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387

"version": "0.2.0",

"configurations": [

{

"name": "(gdb) Launch",

"type": "cppdbg",

"request": "launch",

"program": "${workspaceFolder}/bin/show",

"preLaunchTask": "build",

"args": ["${workspaceFolder}/dat"],

"stopAtEntry": false,

"cwd": "${workspaceFolder}",

"environment": [],

"externalConsole": true,

"MIMode": "gdb",

"setupCommands": [

{

"description": "Enable pretty-printing for gdb",

"text": "-enable-pretty-printing",

"ignoreFailures": true

}

]

}

]

}

文件tasks.json的内容

{

"version": "2.0.0",

"tasks": [

{

"label": "build",

"type": "shell",

"command": "make"

}

]

}

调试控制台的内容如下

There is NO WARRANTY, to the extent permitted by law. Type "show copying"

and "show warranty" for details.

This GDB was configured as "x86_64-linux-gnu".

Type "show configuration" for configuration details.

For bug reporting instructions, please see:

.

Find the GDB manual and other documentation resources online at:

.

For help, type "help".

Type "apropos word" to search for commands related to "word".

=cmd-param-changed,param="pagination",value="off"

Stopped due to shared library event (no libraries added or removed)

Loaded '/lib64/ld-linux-x86-64.so.2'. Symbols loaded.

[Thread debugging using libthread_db enabled]

Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".

Breakpoint 1, 0x00000000004243a0 in main ()

使用MakeFile和CMakeLists.txt进行更新

生成文件

all: .configured

cmake --build .build

.PHONY: test

test:

cmake -H. -B.build

CTEST_OUTPUT_ON_FAILURE=true cmake --build .build --target test

config: .build

ccmake -H. -B.build

touch .configured

.configured: .build

ifeq ($(CMAKE_GENERATOR),Ninja)

cmake -H. -B.build -G "Ninja"

else

cmake -H. -B.build -G "Unix Makefiles"

endif

touch .configured

.build:

mkdir -p .build

clean: .build

cmake --build .build --target clean

-rm -rf .build

rm -f .configured

DOC = doc/

docu: docu_html docu_latex docu_hl

echo

echo

echo + Reference documentation generated: $(DOC)html/index.html

echo + Reference documentation generated: $(DOC)refman.pdf

echo + Highlevel documentation generated: $(DOC)documentation_HL.pdf

echo

docu_html:

doxygen doc/doxygen.cfg

cd $(DOC) ; zip -q html.zip html/*

echo

echo

docu_latex:

$(MAKE) -C $(DOC)latex

cd $(DOC)latex ; dvips refman

cd $(DOC)latex ; ps2pdf14 refman.ps refman.pdf

cp $(DOC)latex/refman.pdf $(DOC)

docu_hl: $(DOC)high_level_doc/documentation.tex

cd $(DOC)high_level_doc ; latex documentation.tex

cd $(DOC)high_level_doc ; bibtex documentation

cd $(DOC)high_level_doc ; latex documentation.tex

cd $(DOC)high_level_doc ; dvips documentation

cd $(DOC)high_level_doc ; ps2pdf14 documentation.ps ../documentation_HL.pdf

的CMakeLists.txt

cmake_minimum_required (VERSION 2.8.2)

project (3DTK)

if(POLICY CMP0025)

#necessary to build with custom clang on macOS

cmake_policy(SET CMP0025 NEW)

endif()

set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/3rdparty/CMakeModules" ${CMAKE_MODULE_PATH})

# cmake no longer defines WIN32 on cygwin

set(CMAKE_LEGACY_CYGWIN_WIN32 0) # remove when cmake >= 2.8.4 is required

# On Windows, the symbols of a dynamic library have to be explicitly exported

# using __declspec(dllexport) or otherwise the library will not even be built.

# To avoid having to modify our headers, we just force the same behaviour as

# under Unix

if (MSVC)

set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)

endif()

# Hide CMake variables

set (CMAKE_INSTALL_PREFIX "/usr/local" CACHE INTERNAL "" FORCE)

set (CMAKE_BUILD_TYPE "" CACHE INTERNAL "" FORCE)

# being able to set the output directory to a different one than the default

# (the source directory) is important for platforms like windows, where the

# produced binaries cannot be run if being placed in certain locations (like on

# a network drive)

set(OUTPUT_DIRECTORY "${PROJECT_SOURCE_DIR}" CACHE PATH "The directory where the output will be placed into lib, obj and bin subdirectories (default: ${PROJECT_SOURCE_DIR})" )

# Set output directories for libraries and executables

set( CMAKE_LIBRARY_OUTPUT_DIRECTORY ${OUTPUT_DIRECTORY}/lib )

set( CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${OUTPUT_DIRECTORY}/obj )

set( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${OUTPUT_DIRECTORY}/bin )

# Set output directories for multi-config builds (like with MSVC)

foreach( OUTPUTCONFIG ${CMAKE_CONFIGURATION_TYPES} )

string( TOUPPER ${OUTPUTCONFIG} OUTPUTCONFIG )

set( CMAKE_LIBRARY_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${OUTPUT_DIRECTORY}/lib )

set( CMAKE_ARCHIVE_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${OUTPUT_DIRECTORY}/obj )

set( CMAKE_RUNTIME_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${OUTPUT_DIRECTORY}/bin )

endforeach( OUTPUTCONFIG CMAKE_CONFIGURATION_TYPES )

include(CheckSymbolExists)

check_symbol_exists(mmap sys/mman.h HAVE_MMAP)

check_symbol_exists(mkstemp stdlib.h HAVE_MKSTEMP)

set(CMAKE_REQUIRED_DEFINITIONS -D_GNU_SOURCE)

check_symbol_exists(fallocate fcntl.h HAVE_FALLOCATE)

set(CMAKE_REQUIRED_DEFINITIONS)

if(HAVE_MMAP AND HAVE_MKSTEMP AND HAVE_FALLOCATE)

add_definitions(-DWITH_MMAP_SCAN)

endif()

#include_directories(OPENGL_INCLUDE_DIR)

if(WIN32)

# Tells the config system not to automatically select which libraries to

# link against. Normally if a compiler supports #pragma lib, then the

# correct library build variant will be automatically selected and linked

# against, simply by the act of including one of that library's headers.

# This macro turns that feature off.

add_definitions(-DBOOST_ALL_NO_LIB)

# Forces all libraries that have separate source, to be linked as dll's

# rather than static libraries on Microsoft Windows (this macro is used to

# turn on __declspec(dllimport) modifiers, so that the compiler knows which

# symbols to look for in a dll rather than in a static library).

add_definitions(-DBOOST_ALL_DYN_LINK)

endif()

set(Boost_ADDITIONAL_VERSIONS "1.42" "1.42.0" "1.44" "1.44.0" "1.45.0" "1.45" "1.46" "1.46.1" "1.47.0" "1.47" "1.48" "1.50" "1.52" "1.53" "1.55" "1.56")

if(WIN32)

# for some unknown reason no one variant works on all windows platforms

set(Boost_DEBUG 1)

find_package( Boost COMPONENTS serialization graph regex filesystem system thread chrono date_time program_options system REQUIRED)

else()

find_package( Boost COMPONENTS serialization graph regex filesystem system thread date_time program_options system REQUIRED)

endif()

if(Boost_FOUND)

link_directories(${BOOST_LIBRARY_DIRS})

include_directories(${Boost_INCLUDE_DIRS})

add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})

endif()

find_package(CXSparse REQUIRED)

find_package(ANN)

if (ANN_FOUND)

set(ANN_LIBRARIES_SHARED ${ANN_LIBRARIES})

set(ANN_LIBRARIES_STATIC ${ANN_LIBRARIES})

else()

add_subdirectory("3rdparty/ann")

set(ANN_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/3rdparty/ann/ann_1.1.1_modified/include")

set(ANN_LIBRARIES_SHARED ann_shared)

set(ANN_LIBRARIES_STATIC ann_static)

endif()

find_package(Newmat)

if(NEWMAT_FOUND)

set(NEWMAT_LIBRARIES_SHARED ${NEWMAT_LIBRARIES})

set(NEWMAT_LIBRARIES_STATIC ${NEWMAT_LIBRARIES})

else()

add_subdirectory("3rdparty/newmat")

set(NEWMAT_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/3rdparty/newmat/newmat-10")

set(NEWMAT_LIBRARIES_SHARED newmat_shared)

set(NEWMAT_LIBRARIES_STATIC newmat_static)

endif()

if(APPLE)

find_package(OpenCV REQUIRED HINTS "/usr/local/opt/opencv3/share/OpenCV/")

else()

if(WIN32)

set(OpenCV_STATIC ON)

endif()

endif()

if(EXISTS "${OpenCV_DIR}/OpenCVConfig.cmake")

include("${OpenCV_DIR}/OpenCVConfig.cmake")

set(ADDITIONAL_OPENCV_FLAGS

"-DCV_MINOR_VERSION=${OpenCV_VERSION_MINOR} -DCV_MAJOR_VERSION=${OpenCV_VERSION_MAJOR}"

CACHE STRING "OpenCV Version Defines)"

)

## Include the standard CMake script

else()

set(ADDITIONAL_OPENCV_FLAGS

""

CACHE STRING "OpenCV Version Defines (BLUB)"

)

endif()

set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ADDITIONAL_OPENCV_FLAGS}")

#################################################

# Declare Options and modify build accordingly ##

#################################################

# cvblob is needed for thermo

find_package(OpenCV QUIET)

if (OpenCV_FOUND)

include_directories(${OpenCV_INCLUDE_DIRS})

add_subdirectory(3rdparty/cvblob)

link_directories(${PROJECT_SOURCE_DIR}/3rdparty/cvblob)

else()

message(STATUS "Not building cvblob because WITH_OPENCV is OFF")

endif()

option(WITH_CGAL "Compile with CGAL support" ON)

option(WITH_LIBZIP "Compile with libzip support" ON)

option(WITH_OPENGL "Compile with OpenGL support" ON)

option(WITH_OPENCV "Compile with OpenCV support" ON)

option(WITH_QT "Compile tools relying on QT (qtshow)" ON)

option(WITH_GLFW "Compile with GLFW support" ON)

option(WITH_FTGL "Compile with FTGL support" ON)

option(WITH_XMLRPC "Compile with XMLRPC support" ON)

option(WITH_EIGEN3 "Compile with eigen3 support" ON)

option(WITH_LIBCONFIG "Compile with libconfig support" ON)

option(WITH_ROS "Compile with ROS support" OFF)

option(WITH_PYTHON "Compile Python bindings" ON)

option(WITH_WXWIDGETS "Compile with wxwidgets support" ON)

option(WITH_OPENCV_NONFREE "Whether to use non-free (patent encumbered) OpenCV functionalities" OFF)

option(WITH_COMPACT_OCTREE "Whether to use the compact octree display ON/OFF" OFF)

option(WITH_GLEE "Whether to use OpenGL extensions, requires glee. ON/OFF" OFF)

option(WITH_LASLIB "Whether to build LASlib based scanio library" ON)

## CUDA accelerated collision detection

option(WITH_CUDA "Whether to build CUDA accelerated collision detection tools" OFF)

if(WITH_CUDA)

find_package(CUDA REQUIRED)

include_directories(${FOUND_CUDA_NVCC_INCLUDE})

#owerrite users input - need to be fixed

#select all NVIDIA GPU arch which support unified memory (CUDA toolkit >= 6.0) and arch>=30

set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-gencode arch=compute_30,code=sm_30;-gencode arch=compute_35,code=sm_35;-gencode arch=compute_50,code=sm_50;-gencode arch=compute_52,code=sm_52)

message("CUDA_NVCC_FLAGS = ${CUDA_NVCC_FLAGS}")

message(STATUS "With CUDA accelerated collision detection")

else()

message(STATUS "Without CUDA accelerated collision detection")

endif()

## RivLib

option(WITH_RIVLIB "Whether the RIEGL rivlib is present ON/OFF" OFF)

if(WITH_RIVLIB)

message(STATUS "Compiling a scan IO for RXP files")

set(RIEGL_DIR ${PROJECT_SOURCE_DIR}/3rdparty/riegl/)

if(UNIX)

set(RiVLib_USE_STATIC_RUNTIME ON)

endif()

find_package(RiVLib QUIET COMPONENTS scanlib HINTS "${RIEGL_DIR}/cmake/")

if(${RiVLib_FOUND})

include_directories(${RiVLib_INCLUDE_DIRS})

else()

# TODO: Remove this if nobody is using the old RiVLib anymore.

# Change QUIET to REQUIRED in the find_package call for RiVLib above.

message(STATUS "Cannot find current RiVLib. Trying to build scan IO for RXP files with old scanlib.")

add_definitions(-DWITH_OLD_RIVLIB)

find_package(LibXml2 REQUIRED)

include_directories(${LIBXML2_INCLUDE_DIR})

include_directories(${PROJECT_SOURCE_DIR}/3rdparty)

if(WIN32)

set(RiVLib_SCANLIB_LIBRARY ${RIEGL_DIR}libscanlib-mt.lib ${RIEGL_DIR}libctrllib-mt.lib ${RIEGL_DIR}libboost_system-mt-1_43_0-vns.lib ${LIBXML2_LIBRARIES})

else()

set(RiVLib_SCANLIB_LIBRARY ${RIEGL_DIR}libscanlib-mt-s.a ${RIEGL_DIR}libctrllib-mt-s.a ${RIEGL_DIR}libboost_system-mt-s-1_43_0-vns.a pthread ${LIBXML2_LIBRARIES})

endif()

endif()

else()

message(STATUS "Do NOT compile a scan IO for RXP")

endif()

option(WITH_OPENMP "Whether to use parallel processing capabilities of OPENMP. ON/OFF" ON)

if (WITH_OPENMP)

find_package(OpenMP REQUIRED)

endif()

option(WITH_METRICS "Whether to use time metrics. ON/OFF" OFF)

option(WITH_ADDONS "Whether to download and use addons to 3DTK. ON/OFF" OFF)

if(WITH_ADDONS)

message(STATUS "Compiling addons directory")

#execute_process(COMMAND svn co https://robotik.informatik.uni-wuerzburg.de/slam6dprivate/trunk/addons addons

# WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}

# OUTPUT_QUIET

# )

message(STATUS "With addons.")

else()

message(STATUS "Without addons.")

endif()

#################################################

# OPERATING SYSTEM SPECIFIC BEHAVIOUR ##

#################################################

## Special treatment for system specifics

if(APPLE)

add_definitions(-Dfopen64=fopen)

endif()

## Multiple Cores

include(ProcessorCount)

ProcessorCount(PROCESSOR_COUNT)

if(NOT PROCESSOR_COUNT EQUAL 0)

set(NUMBER_OF_CPUS "${PROCESSOR_COUNT}" CACHE STRING "The number of processors to use (default: ${PROCESSOR_COUNT})" )

else()

set(NUMBER_OF_CPUS "1" CACHE STRING "The number of processors to use (default: 1)" )

endif()

# OPENMP_NUM_THREADS

if(OPENMP_FOUND AND WITH_OPENMP)

message(STATUS "With OpenMP ")

set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DMAX_OPENMP_NUM_THREADS=${NUMBER_OF_CPUS} -DOPENMP_NUM_THREADS=${NUMBER_OF_CPUS} ${OpenMP_CXX_FLAGS} -DOPENMP")

else()

message(STATUS "Without OpenMP")

set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DMAX_OPENMP_NUM_THREADS=1 -DOPENMP_NUM_THREADS=1")

endif()

# 3rdparty

if(WIN32)

include_directories(${PROJECT_SOURCE_DIR}/3rdparty/windows/)

link_directories(${PROJECT_SOURCE_DIR}/3rdparty/windows)

link_directories(${BOOST_LIBRARYDIR})

add_library(XGetopt STATIC ${PROJECT_SOURCE_DIR}/3rdparty/windows/XGetopt.cpp)

set(CMAKE_STATIC_LIBRARY_SUFFIX "32.lib")

# to be able to use numeric_limits::max() and friends on windows

set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DNOMINMAX")

else()

if (WITH_OPENGL)

# Add include path for OpenGL without GL/-prefix

# to avoid the include incompatibility between MACOS

# and linux

find_path(OPENGL_INC NAMES gl.h GL/gl.h PATHS /usr/include/GL)

if (${OPENGL_INC})

include_directories(${OPENGL_INC})

else()

message(STATUS "gl.h not found")

endif()

endif()

endif()

if (${CMAKE_CXX_COMPILER_ID} STREQUAL Clang)

# using Clang

set(ADDITIONAL_CFLAGS "-O3 -std=c++0x -msse3 -Wall -Wno-write-strings -Wno-char-subscripts -Wno-unused-result" CACHE STRING "Additional flags given to the compiler (-O3 -Wall -Wno-write-strings)" )

elseif (${CMAKE_CXX_COMPILER_ID} STREQUAL GNU)

# using GCC

set(ADDITIONAL_CFLAGS "-O3 -std=c++0x -msse3 -Wall -finline-functions -Wno-unused-but-set-variable -Wno-write-strings -Wno-char-subscripts -Wno-unused-result" CACHE STRING "Additional flags given to the compiler (-O3 -Wall -finline-functions -Wno-write-strings)" )

elseif (${CMAKE_CXX_COMPILER_ID} STREQUAL Intel)

# using Intel C++

elseif (${CMAKE_CXX_COMPILER_ID} STREQUAL MSVC)

# using Visual Studio C++

set(ADDITIONAL_CFLAGS "-O2" CACHE STRING "Additional flags given to the compiler ( -O2)" )

endif()

# Add OpenGL includes for MACOS if needed

# The OSX OpenGL frameworks natively supports freeglut extensions

if(APPLE)

include_directories(/System/Library/Frameworks/GLUT.framework/Headers)

include_directories(/System/Library/Frameworks/OpenGL.framework/Headers)

endif()

# hack to "circumvent" Debug and Release folders that are created under visual studio

# this is why the INSTALL target has to be used in visual studio

if(MSVC)

install(DIRECTORY ${PROJECT_SOURCE_DIR}/bin/Release/ CONFIGURATIONS Release DESTINATION ${PROJECT_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")

if( CMAKE_SIZEOF_VOID_P EQUAL 8 )

install(DIRECTORY ${PROJECT_SOURCE_DIR}/3rdparty/windows/x64/ CONFIGURATIONS Release DESTINATION ${PROJECT_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")

else()

install(DIRECTORY ${PROJECT_SOURCE_DIR}/3rdparty/windows/ CONFIGURATIONS Release DESTINATION ${PROJECT_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")

endif()

install(DIRECTORY ${PROJECT_SOURCE_DIR}/bin/Debug/ CONFIGURATIONS Debug DESTINATION ${PROJECT_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")

if( CMAKE_SIZEOF_VOID_P EQUAL 8 )

install(DIRECTORY ${PROJECT_SOURCE_DIR}/3rdparty/windows/x64/ CONFIGURATIONS Debug DESTINATION ${PROJECT_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")

else()

install(DIRECTORY ${PROJECT_SOURCE_DIR}/3rdparty/windows/ CONFIGURATIONS Debug DESTINATION ${PROJECT_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")

endif()

endif()

#################################################

# Robot Operating System (ROS) Integration ##

#################################################

if( catkin_FOUND )

catkin_package(

INCLUDE_DIRS include addons/include

)

endif()

#################################################

# GENERAL PROJECT SETTINGS ##

#################################################

set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ADDITIONAL_CFLAGS}")

if(APPLE)

set(CMAKE_MACOSX_RPATH 1)

endif()

# Set include and link dirs ...

include_directories(${PROJECT_SOURCE_DIR}/include)

#include_directories(${PROJECT_SOURCE_DIR}/3rdparty/wxthings/include/)

link_directories(${PROJECT_SOURCE_DIR}/obj)

link_directories(${PROJECT_SOURCE_DIR}/lib)

# src/show must be added first because it defines the cache variables

# SHOW_LIBS_* which are used by others

add_subdirectory(src/show)

add_subdirectory(src/slam6d)

add_subdirectory(src/scanio)

add_subdirectory(src/scanserver)

add_subdirectory(src/segmentation)

add_subdirectory(src/normals)

add_subdirectory(src/veloslam)

add_subdirectory(src/qtshow)

add_subdirectory(src/grid)

add_subdirectory(src/pmd)

add_subdirectory(src/shapes)

add_subdirectory(src/floorplan)

add_subdirectory(src/thermo)

add_subdirectory(src/slam6d/fbr)

add_subdirectory(src/scanner)

add_subdirectory(src/model)

add_subdirectory(src/collision)

add_subdirectory(src/peopleremover)

add_subdirectory(src/spherical_quadtree)

add_subdirectory(src/cuda)

add_subdirectory(src/ros)

add_subdirectory(src/tools)

add_subdirectory(src/gps)

add_subdirectory(src/curvefusion)

# 3rdparty must come before src/calibration because it sets

# APRILTAG_INCLUDE_DIRS

add_subdirectory(3rdparty)

add_subdirectory(src/calibration)

add_subdirectory(bindings)

if(WITH_ADDONS)

message(STATUS "With 3dtk addons.")

add_subdirectory(addons)

endif()

find_package(Boost COMPONENTS system filesystem unit_test_framework REQUIRED)

enable_testing()

add_subdirectory(testing)

# Dummy target with all header files

# This is a hint for some IDEs, such as Qt Creator, to show all headers in the project tree

file(GLOB_RECURSE 3DTK_HEADER_FILES "include/*.h")

add_custom_target(headers SOURCES ${3DTK_HEADER_FILES})

message (STATUS "Build environment is set up!")

最佳答案 我的项目是用CMake构建的,我最后通过在CMakeFiles.txt中添加-g来解决这个问题

原来有一个

set(CMAKE_CXX_FLAGS“${CMAKE_CXX_FLAGS} ${ADDITIONAL_CFLAGS}”)

这将构建项目,无需额外的调试信息,将其更改为

set(CMAKE_CXX_FLAGS“${CMAKE_CXX_FLAGS} ${ADDITIONAL_CFLAGS} -g”)

在构建期间提供额外信息将允许调试(构建过程将比默认慢得多).