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

作者：喵喵爱编程 | 2024-08-21 07:25:55

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salsanext

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;
}