如何用vscode进行单步调试

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。

sudo apt-get install clang

{     "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                 }             ],         }     ] }

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 ()