我试图在vs代码中调试catkin包节点，但我遇到了一个问题，由于某种原因，在调试模式下，当需要从共享库中创建对象时，程序就会中止。出于某种原因，在调试模式下，当程序需要从共享库中创建对象时，程序就会中止。当程序在调用栈中创建对象失败时，我的共享库(.so)就在那里，但vscode说库的来源不明，由此我可以得出结论，cmake或vscode不知道共享库的位置。共享库包含在CMakeLists.txt中，像这样。
cmake_minimum_required(VERSION 3.0.2)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++14)
project(1_OpenCV_detection)
message(${PROJECT_SOURCE_DIR})
# Aggregate the sources
#file(GLOB SOURCES "${PROJECT_SOURCE_DIR}/include/*.cpp")
set(SOURCES "${PROJECT_SOURCE_DIR}/include/Model.cpp"
"${PROJECT_SOURCE_DIR}/include/Mesh.cpp"
"${PROJECT_SOURCE_DIR}/include/CsvReader.cpp"
"${PROJECT_SOURCE_DIR}/include/CsvWriter.cpp"
"${PROJECT_SOURCE_DIR}/include/ModelRegistration.cpp"
"${PROJECT_SOURCE_DIR}/include/PnPProblem.cpp"
"${PROJECT_SOURCE_DIR}/include/RobustMatcher.cpp"
"${PROJECT_SOURCE_DIR}/include/Utils.cpp")
message(${SOURCES})
#set(OpenCV_DIR "/usr/share/OpenCV/")
set(OpenCV_DIR "/usr/local/lib/cmake/opencv4/")
#message(${OpenCV_DIR})
set(CMAKE_CXX_STANDARD_REQUIRED ON)
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${opencv_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${OpenCV_DIR}
/usr/local/include/opencv4/opencv2/core/utils/
/usr/local/include/opencv4/opencv2/core/
/usr/local/include/opencv4/opencv2/
/opt/ros/melodic/include/
/usr/include/boost/
#/usr/include/opencv/opencv2/
#/usr/share/OpenCV/
#linux
/usr/include/c++/7/
/usr/include/x86_64-linux-gnu/c++/7/
/usr/include/c++/7/backward/
/usr/lib/gcc/x86_64-linux-gnu/7/include/
#/usr/local/include/
/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed/
/usr/include/x86_64-linux-gnu/
/usr/include/
/usr/local/lib/
)
add_library(opencv_so SHARED IMPORTED GLOBAL)
set_target_properties(
opencv_so
PROPERTIES
IMPORTED_LOCATION /usr/local/lib/libopencv_core.so.4.3
IMPORTED_IMPLIB /usr/local/lib/libopencv_core.so.4.3
)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
OpenCV REQUIRED
cv_bridge
image_transport
roscpp
sensor_msgs
std_msgs
)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES 1_OpenCV_detection
CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs
# DEPENDS system_lib
)
add_executable(OpenCV_registration src/OpenCV_registration.cpp ${SOURCES} ${OpenCV_DIR})
target_link_libraries(OpenCV_registration ${catkin_LIBRARIES} ${OpenCV_LIBS} opencv_so)
add_executable(test_luka src/test.cpp ${SOURCES} ${OpenCV_DIR})
target_link_libraries(test_luka ${catkin_LIBRARIES} ${OpenCV_LIBS} opencv_so)
我在google上搜了个底朝天，但我找不到任何解决方案，如何在我的cmake中包含适合我的共享库。
我正在尝试调试这个小程序。
// C++
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
#include <fstream>
// OpenCV
#include <opencv2/core.hpp>
#include <opencv2/core/utils/filesystem.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/calib3d.hpp>
#include <opencv2/video/tracking.hpp>
#include <opencv2/core/utility.hpp>
// PnP Tutorial
#include "Mesh.h"
#include "Model.h"
#include "PnPProblem.h"
#include "RobustMatcher.h"
#include "ModelRegistration.h"
#include "Utils.h"
//ROS-->openCV
//bridge between ROS and opencv; used for reading from camera topic in ROS and giving it to opencv
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
/** GLOBAL VARIABLES **/
using namespace cv;
using namespace std;
/** Functions headers **/
void help();
void initKalmanFilter( KalmanFilter &KF, int nStates, int nMeasurements, int nInputs, double dt);
void predictKalmanFilter( KalmanFilter &KF, Mat &translation_predicted, Mat &rotation_predicted );
void updateKalmanFilter( KalmanFilter &KF, Mat &measurements,
Mat &translation_estimated, Mat &rotation_estimated );
void fillMeasurements( Mat &measurements,
const Mat &translation_measured, const Mat &rotation_measured);
string CurrentPath;
string getCurrentPath()
{
size_t size;
char *path=NULL;
path=getcwd(path,size);
CurrentPath=path;
return path;
}
/** Main program **/
int main(int argc, char *argv[])
{
//CommandLineParser parser(argc, argv, keys);
cout << "Current directory is: " << getCurrentPath() << endl;
string video_read_path = samples::findFile("src/1_OpenCV_detection/Data/box.mp4"); // recorded video
string yml_read_path = samples::findFile("src/1_OpenCV_detection/Data/cube_30mm/cube_30mm.yml"); // 3dpts + descriptors
string ply_read_path = samples::findFile("src/1_OpenCV_detection/Data/cube_30mm/meshes/cube_30mm.ply"); // object mesh
Model model; // instantiate Model object
cout<<"Before model.load()"<<endl;
model.load(yml_read_path); // load a 3D textured object model
cout<<"After model.load()"<<endl;
Mesh mesh; // instantiate Mesh object
mesh.load(ply_read_path); // load an object mesh
return 0;
}
程序总是在同一个地方失败，在model.load(yml_read_path)方法中，vscode在右下角弹出一个窗口，上面写着:
无法打开'strlen-avx2.S': Unable to read file 'buildglibc-OTsEL5glibc-2.27sysdepsx86_64multiarchstrlen-avx2.S' (Error: 无法解析不存在的文件'buildglibc-OTsEL5glibc-2.27sysdepsx86_64multiarchstrlen-avx2.S'）。)
但我的意见是，strlen没有问题，而且.so库没有被包含。
忽略所有这些包含的头，我只是从另一个程序中复制了它们，但我没有在我的test_luka.cpp中使用它。
希望能得到任何帮助。
EDIT.我已经尝试了@Boris的建议(
我已经尝试了 @Boris 的建议 (https:/github.commicrosoftvscode-cpptoolsissues811。)，但没有成功，共享库还是未知，唯一不同的是，我的程序在出现异常后进入了strlen-avx2.S。
$ sudo apt install glibc-source
$ cd /usr/src/glibc
$ sudo tar xvf glibc-2.27.tar.xz
然后在launch.json中使用sourceFileMap为文件夹建立链接。
"sourceFileMap": {
"/build/glibc-OTsEL5": "/usr/src/glibc"
},
当我像这样在exe目录下运行ldd时:
ldd OpenCV_registration | grep libopencv_core
我得到这样的输出：
libopencv_core.so.3.2 => usrlibx86_64-linux-gnulibopencv_core.so.3.2 (0x00007f0f4d85e000)libopencv_core.so.4.3 => usrlocalliblibopencv_core.so.4. .3 (0x00007f0f4bc62000)所以它似乎能识别出需要哪些库，但似乎不知道在哪里找到它们。
试试vs-code的github bug报告中提到的修复方法吧 https:/github.commicrosoftvscode-cpptoolsissues811。