For the last preparation before starting to study about the SceneLib library and Visual SLAM, here is a post describes how to debug SceneLib with Eclipse. Regarding how to install SceneLib 1.0 on Ubuntu 10.04, please refer to the previous post. 1. Have SceneLib and other components in a folder All you need are glow_104, MonoSLAMGlow, SceneLib, VW34 and TestSeqMonoSLAM folders. 2. Clean and configure If you have ever compiled and/or configured any component, please clean and/or re-configure them as below. // GLOW Toolkit$ cd glow_104$ cd glow_src$ sudo make clean$ sudo make$ sudo ln -s libglow.a.1.0.2 libglow.a// VW34 Library$ cd VW34$ sudo make clean$ sudo rm configure$ ./bootstrap$ ./configure$ sudo make$ sudo make install// SceneLib$ cd SceneLib$ sudo make clean$ ./configure$ sudo make$ sudo make install// MonoSLAMGlow$ cd MonoSLAMGlow$ sudo make clean$ sudo make3. Modify ‘MonoSLAMGlow/Makefile’ Add ‘all: ${EXECUTABLE)’ before ‘$(EXECUTABLE):$(OFILES) to make a target correctly as below. # Executableall: $(EXECUTABLE)$(EXECUTABLE): $(OFILES) 4. Run Eclipse and select the folder as a workspace I installed Eclipse IDE for C/C++ Linux Developers - Indigo Service Release 1 Version on Ubuntu 10.04. In the Eclipse IDE, choose ‘File->Switch Workspace->Other...’, and select the folder as a workspace. 5. Add SceneLib and all other components as projects to Eclipse In the Eclipse IDE, choose ‘File->New->Makefile Project with Existing Code’, select a folder using the ‘Browse...’ button, and click the ‘Finish’ button after selecting ‘Linux GCC’ for ‘Toolchain for indexer Settings’. Do the same things for all components (i.e., glow_104, MonoSLAMGlow, SceneLib and VW34). You should see all added projects in the ‘Project Explorer’ window as below.  6. Change ‘Build location’ of the ‘glow_104’ project In the Eclipse IDE, right click on the ‘glow_104’ project’, choose ‘Properties’, click ‘C/C++ Build’. On the ‘Builder Settings’ tab, select ‘glow_104->glow_src’ using the ‘Workspace...’ button as its make file is located in the ‘glow_src’ folder. 7. Modify ‘glow_104/glow_src/Makefile’ To build GLOW Toolkit in the debug mode, change ‘CFLAGS_Linux’ and ‘CFLAGS_IRIX’ as below. CFLAGS_Linux=-Wall \ -DGLOW_PLATFORM_LINUX \ -DGLOW_PLATFORM_LITTLEENDIAN -g#NODEBUGCFLAGS_Linux=-O2 -DNODEBUGCFLAGS_IRIX=-fullwarn -no_auto_include \ -LANG:std \ -woff 1209,3201,1424,1375 \ -OPT:Olimit=0 \ -I../Compat-SGI \ -DGLOW_COMPAT_CLIBNOSTDNAMESPACE \ -DGLOW_PLATFORM_IRIX \ -DGLOW_PLATFORM_BIGENDIAN -g#NODEBUGCFLAGS_IRIX=-O2 -DNODEBUG8. Rebuild all component in the Eclipse IDE Right click on each project, select ‘Clean Project’ and ‘Build Project’ sequentially. 9. Debug MonoSLAMGlow You can debug MonoSLAMGlow by selecting ‘1 monoslam’ from the Debug icon.  10. Run MonoSLAMGlow Right click on the ‘MonoSLAMGlow’ project, choose ‘Run As->Local C/C++ Application’, and click ‘OK’ button after selecting ‘gdb/mi’ as a configuration to run.  Now is the time to start reading Andrew Davison’s papers and delving the SceneLib’s source code! :) [Update on 18/06/2012] If you cannot use "Open Declaration (F3)" on a function when you are debugging, and if you get a warning or error message something like "... unresolved inclusion ..." or "... could not be resolved ..." on the function, please add its source folder following below. 1) Right click on the project, and select "Properties". 2) Select "C/C++ General - Paths and Symbols". 3) Select "Includes" tab and "GNU C++". 4) Add its source folder using "Add..." button. |
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