ubuntu 16.04环境下使用vscode配置并调试ORB--SLAM2源代码的过程

在使用vscode之前需要了解的相关知识可以从以下的链接中获取：

https://blog.csdn.net/u010677365/article/details/80703984

然后参考如下链接配置ORB-SLAM2的环境：

https://blog.csdn.net/weixin_39608351/article/details/88045093

接着是我自己配置几个文件的结果，把代码直接贴出来：

1.c_cpp_properties.json

{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**",
                "/usr/include/eigen3"
            ],
            "defines": [],
            "compilerPath": "/usr/bin/g++",
            "cStandard": "c11",
            "cppStandard": "c++11",
            "intelliSenseMode": "gcc-x64"
        }
    ],
    "version": 4
}

2.tasks.json(编译)

{
    "tasks": [
        {
            "type": "shell",
            "label": "monotum",
            "command": "./build.sh",
            "group": {
                "kind": "build",
                "isDefault": true
            },
        }
        
    ],
    "version": "2.0.0"
}

3.launch.json(调试)

{
    // 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": "g++ build and debug active file",
            "type": "cppdbg",
            "request": "launch",
            "program": "/home/xiaobinbin/SLAMcodes/ORB_SLAM2/Examples/Monocular/mono_tum",
            "args": [
                "/home/xiaobinbin/SLAMcodes/ORB_SLAM2/Vocabulary/ORBvoc.txt",
                "/home/xiaobinbin/SLAMcodes/ORB_SLAM2/Examples/Monocular/TUM1.yaml",
                "/home/xiaobinbin/SLAMcodes/ORB_SLAM2/data/rgbd_dataset_freiburg1_desk2",
            ],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "为 gdb 启用整齐打印",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ],
            "preLaunchTask": "monotum",
            "miDebuggerPath": "/usr/bin/gdb"
        }
    ]
}

配置好以上的文件之后，就可以在vscode的环境下编译运行调试ORB的代码啦！