windows10系统下基于pybind11库进行c++代码调用python(pytorch)代码

Posted 2023-03-02 s182838ss

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最近在学习基于lidar-mos进行slam激光点云动态物体剔除的相关内容，经过调研准备基于pybind11库在实际项目(c++)中调用salsaNext代码(python)。

使用cmake在测试项目中引入pybind11库，CMakeLists.txt文件内容为：

cmake_minimum_required(VERSION 3.15)

project(test LANGUAGES CXX)

find_package(pybind11 CONFIG REQUIRED)

add_executable(convert main.cpp)

target_link_libraries(convert PRIVATE pybind11::embed pybind11::module)

pybind11库有多种安装方式，我是在vcpkg里安装管理的。

在程序运行目录下，拷贝python相关文件和文件夹：

其中DLLS、Lib和python39.dll为对应python环境的依赖项，LiDAR-MOS为准备调用的python代码。libiomp5md.dll和uv.dll后面会提到为啥需要。

pybind11是一个头文件库，包含必要的头文件后就可以进行python解释器的初始化，然后就可以在c++中调用lidar-mos的python代码了。

#include <pybind11/embed.h>
#include <pybind11/pybind11.h>
#include <pybind11/functional.h>
#include <pybind11/stl.h>
#include <iostream>

namespace py = pybind11;

int main()

    py::scoped_interpreter guard;//python解释器的初始化
    // py::print("Hello, World!");

    py::module sys = py::module::import("sys");
    sys.attr("path").attr("append")("D:\\\\workSpace2022\\\\project_vs\\\\dynamic_removeTest\\\\build\\\\Release\\\\DLLs");
    sys.attr("path").attr("append")("D:\\\\workSpace2022\\\\project_vs\\\\dynamic_removeTest\\\\build\\\\Release\\\\Lib");
    sys.attr("path").attr("append")("D:\\\\workSpace2022\\\\project_vs\\\\dynamic_removeTest\\\\build\\\\Release\\\\Lib\\\\site-packages");
    sys.attr("path").attr("append")("D:\\\\workSpace2022\\\\project_vs\\\\dynamic_removeTest\\\\build\\\\Release\\\\LiDAR-MOS\\\\utils\\\\");
    //sys.attr("path").attr("append")("D:\\\\workSpace2022\\\\project_vs\\\\dynamic_removeTest\\\\build\\\\Release\\\\LiDAR-MOS\\\\utils\\\\auxiliary");
    sys.attr("path").attr("append")("D:\\\\workSpace2022\\\\project_vs\\\\dynamic_removeTest\\\\build\\\\Release\\\\LiDAR-MOS\\\\mos_SalsaNext");
    sys.attr("path").attr("append")("D:\\\\workSpace2022\\\\project_vs\\\\dynamic_removeTest\\\\build\\\\Release\\\\LiDAR-MOS\\\\mos_SalsaNext\\\\train");
    sys.attr("path").attr("append")("D:\\\\workSpace2022\\\\project_vs\\\\dynamic_removeTest\\\\build\\\\Release\\\\LiDAR-MOS\\\\mos_SalsaNext\\\\train\\\\tasks\\\\semantic");
    sys.attr("path").attr("append")("D:\\\\workSpace2022\\\\project_vs\\\\dynamic_removeTest\\\\build\\\\Release\\\\LiDAR-MOS\\\\mos_SalsaNext\\\\train\\\\tasks\\\\semantic\\\\dataset\\\\kitti");

    //py::print(sys.attr("path"));

    py::module os = py::module::import("os");
    //py::print(os.attr("getcwd")());

    py::module yaml = py::module::import("yaml");
    
    /*try 
        py::module matplotlib = py::module::import("matplotlib");
    
    catch (py::error_already_set& e) 
        py::print(e.type());
        py::print(e.what());

    */

    try 
        py::module torch = py::module::import("PIL");
    
    catch (py::error_already_set& e) 
        py::print(e.type());
        py::print(e.what());

    
    
    py::object chdir = os.attr("chdir");
    //chdir("D:\\\\workSpace2022\\\\project_vs\\\\dynamic_removeTest\\\\build\\\\Release\\\\LiDAR-MOS\\\\mos_SalsaNext\\\\train\\\\tasks\\\\semantic");
    chdir("D:\\\\workSpace2022\\\\project_vs\\\\dynamic_removeTest\\\\build\\\\Release\\\\LiDAR-MOS");
    //py::print(os.attr("getcwd")());


    /*auto module = py::module::import("calc22");
    int n = module.attr("add")(1, 2).cast<int>();*/

    /*auto module = py::module::import("gen_residual_images");
    module.attr("gen_resiImages")();*/

    
    /*auto moduleInfer = py::module::import("infer");
    moduleInfer.attr("doSomethingInfer")("../../../../data", "../../../../data/predictions_salsanext_residual_1_new"
        , "../../../../data/model_salsanext_residual_1",false, 30,"valid");*/

    /*auto moduleEva = py::module::import("evaluate_mos");
    moduleEva.attr("doEvaluate_mos")();*/

    auto moduleVisualize = py::module::import("visualize_mos");
    moduleVisualize.attr("visualizeMos")("data", "data/predictions_salsanext_residual_1_valid", 8);

    return 0;

pybind11的语法是比较简单，容易上手的。py::module::import导入模块(python文件)，module.attr("method")调用方法和属性。

在这之前，先使用sys.path.append加上对应python文件的路径，否则会导入模块失败。