VＳcode运行ORBSLAM3

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本文介绍如何使用VSCode配置环境并编译ORBSLAM1项目，包括创建c_cpp_properties.json以设置编译选项、tasks.json用于定义构建任务及launch.json实现调试配置。

VScode编译ORBSLAM

1. 创建c_cpp_properties.json文件
2. 创建tasks.json
３. 创建 lunsh.json

1. 创建c_cpp_properties.json文件

按ctrl + shift + P打开vscode控制台（记住此快捷键，以后经常用），输入C/Cpp: Edit configurations，就自动生成了一个c_cpp_properties.json文件，这样你就可以在该文件中编写参数来调整设置

我的c_cpp_properties.json

{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**",
                "/usr/include/eigen3"
            ],
            "defines": [],
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "gnu11",
            "cppStandard": "c++17",
            "intelliSenseMode": "gcc-x64"
        }
    ],
    "version": 4
}

2. 创建tasks.json

ctrl + shift + P打开vscode控制台，输入Tasks: Configure Tasks，再选择Create tasks.json file from templates，选择Others模板，就自动生成了一个tasks.json文件，这样你就可以在该文件中编写参数来调整设置。
我的tasks.json

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

３. 创建 lunsh.json

vscode自带调试模块，直接点击左侧边栏的Debug图标（Ctrl+Shirft+D)，再点上方的齿轮图标configure，就能自动生成launch.json文件

{
    // 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/jinln/jinln/c++test/MF-SLAM/Examples/Stereo/stereo_test",
            "args": [
                "/home/jinln/jinln/QTproject/ORB_SLAM3/Vocabulary/ORBvoc.txt",
                "/home/jinln/Desktop/MF-ORB_SLAM3/Examples/Stereo/KITTI03.yaml",
                "/home/jinln/jinln/DATASET/kitti/03",
            ],
            "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": "stereo_test",
            "miDebuggerPath": "/usr/bin/gdb"
        }
    ]
}