vscode配置Sophus

要在vscode中配置Sophus，首先需要在您的项目中使用CMakeLists.txt文件进行配置。在CMakeLists.txt中，您需要设置Sophus的路径，并添加相关的包含目录和链接库。以下是一个示例的CMakeLists.txt文件：

cmake_minimum_required(VERSION 2.8)
PROJECT(DemoSophus)

FIND_PACKAGE(Sophus REQUIRED)

SET(CMAKE_EXPORT_COMPILE_COMMANDS ON)
SET(SOPHUS_INCLUDE_DIR /usr/local/include/sophus)
SET(EIGEN_INCLUDE_DIR /usr/local/include/eigen3)
SET(ALL_CODE_LIST Sophus.cpp)
SET(SOPHUS_LIBRARIES /usr/local/lib/libSophus.so)

MESSAGE(STATUS "This is binary dir: " ${DemoSophus_BINARY_DIR})
MESSAGE(STATUS "This is source dir: " ${DemoSophus_SOURCE_DIR})

INCLUDE_DIRECTORIES(${SOPHUS_INCLUDE_DIR})
ADD_EXECUTABLE(Sophus ${ALL_CODE_LIST})
TARGET_LINK_LIBRARIES(Sophus ${SOPHUS_LIBRARIES})

在这个示例中，您需要将`/usr/local/include/sophus`和`/usr/local/lib/libSophus.so`替换为您机器上实际的Sophus路径。确保您的项目目录中存在这个CMakeLists.txt文件。

接下来，您需要在vscode中安装CMake、CMake Tools和C/C++插件。然后打开您的项目文件夹，在.vscode文件夹中创建一个名为`settings.json`的文件，并添加以下内容：

{
    "cmake.configureOnOpen": true,
    "cmake.buildDirectory": "${workspaceFolder}/build",
    "cmake.sourceDirectory": "${workspaceFolder}",
    "cmake.configureSettings": {
        "CMAKE_EXPORT_COMPILE_COMMANDS": "YES"
    }
}

保存并关闭`settings.json`文件。

最后，重新打开您的项目文件夹，vscode将自动检测到CMakeLists.txt并配置项目。在vscode的终端中，您可以使用以下命令来构建和运行项目：

cd build
cmake ..
make
./Sophus

这样，您就成功配置了vscode以使用Sophus库。<span class="em">1</span><span class="em">2</span><span class="em">3</span>
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