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clangsudo 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

# eigen

find_package(Eigen REQUIRED)

include_directories(${EIGEN_INCLUDE_DIR})

# opencv

find_package(OpenCV 4 REQUIRED)

include_directories(${OpenCV_INCLUDE_DIRS})

# glog

find_package(Glog REQUIRED)

include_directories(${GLOG_INCLUDE_DIRS})

# sophus

include_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。