ORB-SLAM2（一）----使用Eclipse進行開發

1.導入項目

準備工做

1, first we should make sure the compile with build.sh under ORB_SLAM2-master is OK.

2, then if we want to build debug version, we need to duplicate the build.sh to build_debug.sh and change the "-DCMAKE-BUILD_TYPE=Release"  to "-DCMAKE-BUILD_TYPE=Debug"

3, make sure build_debug.sh can also build pass. 

It's convenient to use Eclipse to manage and build your code, in order to utilize Eclipse, we need to convert the project managed by cmake to project managed by Eclipse, how to do it?  

步驟1 

1, at the same level as your ORB slam code, make dir "build_debug".

for example, your Slam code is at  ~/Downloads/larry/ORB2/ORB_SLAM2-master

then you need to create a dir : ~/Downloads/larry/ORB2/build_debug

the reason we don't create build_debug under ORB_SLAM2-master is that Eclipse doesn't support this kind of structure well right now.（不將build_debug目錄建在ORB_SLAM2-master下，是由於當前eclipse還不支持這樣的目錄結構，所以須要將編譯的目錄放在外面，這一點在其餘的CMake項目也是同樣有效） 

步驟2

到工做空間ORB2下進行編譯，在終端執行一下指令：

cd ORB2
cd build_debug
cmake -G"Eclipse CDT4 - Unix Makefiles" -D CMAKE_BUILD_TYPE=Debug ../ORB_SLAM2-master

 you will find the ".cproject" and ".project", which are the project files generated for Eclipse and can be used for later import from Eclipse.  

步驟3

Eclipse import the project generated from cmake:

In Eclipse: File -> Import -> General -> Existing Projects into Workspace -> Next

In "Import Projects" Dialogue, select "Select root directory" and import the generated eclipse project from "~/Downloads/larry/ORB2/build_debug"  

步驟4

Then we can build from Eclipse:  

Click the button "Build Default" in Eclipse to build the whole project, pay attention to the Console output. 

導進來的項目結構以下圖所示：

參考資料：ORBSLAM code, use Eclipse to import project from cmake