Question

对于一个学校项目，我需要将Intel Realsense（3D摄像头）与Python连接起来，才能与RoboDK和OpenCV一起使用。我正在使用MVS 2019进行此操作。将superfastcode2（C ++）和RealsenseDistanceV3（Python）设置为64位。

我遵循此教程来创建C ++扩展，并且效果很好。

现在，我将<librealsense2\rs.hpp>包含在module.cpp代码中，所有内容都可以编译并正常运行。但是，在发布模式下，仅。在调试模式下，编译时出现以下错误：

Error   LNK2019 unresolved external symbol __imp__invalid_parameter referenced in function "void * __cdecl std::_Allocate_manually_vector_aligned<struct std::_Default_allocate_traits>(unsigned __int64)" (??$_Allocate_manually_vector_aligned@U_Default_allocate_traits@std@@@std@@YAPEAX_K@Z)   superfastcode2  C:\Users\Gebruiker\source\repos\RealsenseDistanceV3\superfastcode2\module.obj

Error   LNK2019 unresolved external symbol __imp__CrtDbgReport referenced in function "void * __cdecl std::_Allocate_manually_vector_aligned<struct std::_Default_allocate_traits>(unsigned __int64)" (??$_Allocate_manually_vector_aligned@U_Default_allocate_traits@std@@@std@@YAPEAX_K@Z)    superfastcode2  C:\Users\Gebruiker\source\repos\RealsenseDistanceV3\superfastcode2\module.obj

在C ++代码中使用Realsense库中的函数（rs2::pipeline p;）时，发生以下错误。 导入superfastcode2时DLL加载失败：Kan opgegeven模块niet vinden（英语：找不到模块）。

这是合乎逻辑的，因为当查看superfastcode2.log时，它说：

     Creating library C:\Users\Gebruiker\source\repos\RealsenseDistanceV3\Release\superfastcode2.lib and object C:\Users\Gebruiker\source\repos\RealsenseDistanceV3\Release\superfastcode2.exp
module.obj : error LNK2001: unresolved external symbol __imp__PyFloat_AsDouble
module.obj : error LNK2001: unresolved external symbol __imp__PyFloat_FromDouble
module.obj : error LNK2001: unresolved external symbol __imp__PyModule_Create2
C:\Users\Gebruiker\source\repos\RealsenseDistanceV3\Release\superfastcode2.pyd : fatal error LNK1120: 3 unresolved

Module.cpp（来自superfastcode2）：

#include <Python.h>
#include <Windows.h>
#include <cmath>
#include <librealsense2\rs.hpp> // Include RealSense Cross Platform API
#include <iostream>             // for cout

const double e = 2.7182818284590452353602874713527;

double sinh_impl(double x) {
    return (1 - pow(e, (-2 * x))) / (2 * pow(e, -x));
}

double cosh_impl(double x) {
    return (1 + pow(e, (-2 * x))) / (2 * pow(e, -x));
}

double askRealsenseDistance()
{
    return 5.25;
}

void connectRealsense()
{
    rs2::pipeline p;
}


PyObject* tanh_impl(PyObject*, PyObject* o) {
    double x = PyFloat_AsDouble(o);
    double tanh_x = sinh_impl(x) / cosh_impl(x);
    return PyFloat_FromDouble(tanh_x);
}

PyObject* askRealsenseDistance_impl(PyObject*, PyObject* o) {
    //double distance = askRealsenseDistance();
    double distance = PyFloat_AsDouble(o)/100;
    connectRealsense();
    return PyFloat_FromDouble(distance);
}


static PyMethodDef superfastcode2_methods[] = {
    // The first property is the name exposed to Python, fast_tanh, the second is the C++
    // function name that contains the implementation.
    { "fast_tanh", (PyCFunction)tanh_impl, METH_O, nullptr },
    { "askRealsenseDistance_py", (PyCFunction)askRealsenseDistance_impl, METH_O, nullptr },

    // Terminate the array with an object containing nulls.
{ nullptr, nullptr, 0, nullptr }
};



static PyModuleDef superfastcode2_module = {
    PyModuleDef_HEAD_INIT,
    "superfastcode2",                        // Module name to use with Python import statements
    "Provides some functions, but faster",  // Module description
    0,
    superfastcode2_methods                   // Structure that defines the methods of the module
};

PyMODINIT_FUNC PyInit_superfastcode2() {
    return PyModule_Create(&superfastcode2_module);
}

和RealsenseDitanceV3.py（来自RealsenseDistanceV3）：

from itertools import islice
from random import random
from time import perf_counter
from superfastcode2 import fast_tanh
from superfastcode2 import askRealsenseDistance_py

COUNT = 500000  # Change this value depending on the speed of your computer
DATA = list(islice(iter(lambda: (random() - 0.5) * 3.0, None), COUNT))

e = 2.7182818284590452353602874713527


def sinh(x):
    return (1 - (e ** (-2 * x))) / (2 * (e ** -x))


def cosh(x):
    return (1 + (e ** (-2 * x))) / (2 * (e ** -x))


def tanh(x):
    tanh_x = sinh(x) / cosh(x)
    return tanh_x


def test(fn, name):

    start = perf_counter()
    result = fn(DATA)
    duration = perf_counter() - start
    print('{} took {:.3f} seconds\n\n'.format(name, duration))

    for d in result:
        assert -1 <= d <= 1, " incorrect values"


#if __name__ == "__main__":
    #print('Running benchmarks with COUNT = {}'.format(COUNT))

    #test(lambda d: [tanh(x) for x in d], '[tanh(x) for x in d] (Python implementation)')

    #test(lambda d: [fast_tanh(x) for x in d], '[fast_tanh(x) for x in d] (CPython C++ extension)')

number = 8050
print('send: {} to cpp which divides it by 100'.format(number))
output = askRealsenseDistance_py(number)
print('received from cpp: {}'.format(output))

为澄清起见，如果从module.cpp中删除了行rs2::pipeline p;或行connectRealsense();，一切正常。某种程度上，我认为Python.h（CPython）库无法识别Realsense C ++函数。

希望您有一些建议，谢谢！

Answer 1

找到了解决方案！ 您需要从输出库中的Realsense库中复制.dll文件。发现后，这似乎很合逻辑，但首先我认为MVS将使.dll文件本身（来自整个代码）在Python中使用。事实证明并非如此，.dll文件仅来自Realsenselibrary。感谢大家的帮助！

Python中的C ++扩展'DLL加载失败'

1 个答案: