如何用vscode进行单步调试

{

    "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 ()