[人工智能]pybind11

1. Clone packages

  cd lib
  git clone https://github.com/pybind/pybind11.git

2. CmakeList.txt

add_subdirectory(lib/pybind11)

catkin_python_setup() # 需要setup.py

# https://pybind11.readthedocs.io/en/stable/advanced/embedding.html
add_library(segmentor_lib SHARED
        include/sensor/camera/segmentor/segmentor.cpp)
target_link_libraries(segmentor_lib pybind11::embed ${catkin_LIBRARIES}
        ${OpenCV_LIBS} 
        ${TORCH_LIBRARIES}
        )

3. package.xml

<build_depend>pybind11_catkin</build_depend>
<exec_depend>pybind11_catkin</exec_depend>

4. setup.py

与CMakeList.txt同层

# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD

from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup

# fetch values from package.xml
# https://zhuanlan.zhihu.com/p/58382081
setup_args = generate_distutils_setup(
    packages=['segmentor'],
    package_dir={'': 'include/sensor/camera'})

setup(**setup_args)

Usage

py_interpreter = std::make_shared<py::scoped_interpreter>(); // start the interpreter and keep it alive

sys = py::module_::import("sys");
py::print(sys.attr("executable"));
py::print(sys.attr("path"));

mmsegmentor = py::module::import("segmentor.mmsegmentor").attr("Segmentor")(CONFIG_PATH, CHECKPOINT_PATH, DEVICE);

编译和运行的时候都需要先激活虚拟环境
conda activate open-mmlab

https://github.com/jianhengLiu/SV-SLAM/blob/cbc0f9278a5d6e31ba43f11f0209a1dd3ab0b965/include/sensor/image/segmentor/segmentor.cpp