如果没有安装VScode的话，可以去点击官网下载

        如果已经安装了VScode，可以直接把ORBSLAM的工程文件夹拖到VScode中，系统会提示是否添加C/C++编译工具，直接安装即可，安装过程中也可以安装一下cmake

        将ORBSLAM的工程文件夹拖到VScode后，系统会自动生成.vscode的文件夹，里头会有个tasks.json的文件

里头一开始长这样：

{
    "tasks": [
        {
            "type": "cppbuild",
            "label": "C/C++: g++ 生成活动文件",
            "command": "/usr/bin/g++",
            "args": [
                "-fdiagnostics-color=always",
                "-g",
                "${file}",
                "-o",
                "${fileDirname}/${fileBasenameNoExtension}"
            ],
            "options": {
                "cwd": "${fileDirname}"
            },
            "problemMatcher": [
                "$gcc"
            ],
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "detail": "调试器生成的任务。"
        }
    ],
    "version": "2.0.0"
}

将其修改为如下： 

{
    "version": "2.0.0",
    "tasks": [
        {
            "label": "build",
            "type": "shell",
            "command": "./build.sh"
        }
    ]
}

在.vscode中在添加launch.json文件

{
    "version": "0.2.0",
    "configurations": [
        {
            "name": "(gdb) 启动",
            "type": "cppdbg",
            "request": "launch",
            "program": "/home/athrunsunny/slam_project/ORB_SLAM2/Examples/Monocular/mono_tum",
            "args": ["/home/athrunsunny/slam_project/ORB_SLAM2/Vocabulary/ORBvoc.txt",
                "/home/athrunsunny/slam_project/ORB_SLAM2/Examples/Monocular/TUM1.yaml",
                "/media/athrunsunny/DATA/slam_data/rgbd_dataset_freiburg1_desk"],
            "stopAtEntry": false,
            "preLaunchTask": "build",//这一步的build与tasks.json中的type名字相同
            "cwd": "${workspaceFolder}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "为 gdb 启用整齐打印",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ]
        }
    ]
}

在build.sh中修改为debug

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Debug
make -j4

配置好后点击vscode界面最下方的build，等待编译即可，编译成功就会看到下图

        根据launch中program的设置在vscode最下方选择启动文件，比如我这里是使用单目的mono_tum，根据自己的文件路径配置好参数，可以点击gdb启动试试能不能正常运行。

        之后就可以自行打断点进行调试