1. 首先下载python，并且将python配置到环境变量中，如果使用window的安装程序，可以勾选自动添加到环境变量。

  2. 下载pybind11源码，https://github.com/pybind/pybind11

  3. 使用cmake-gui工具配置vs工程，并生成include头文件目录和cmake目录。

    (1) 在pybind11源码目录中创建build目录和install目录。

    (2) 按照如下方式输入你的pybind11源码目录，build目录和install目录。然后点击Configure,Generate,Open Project按钮。
    (3) 如果有报错看下是不是python版本太老了，如果没有报错，打开vs编译，安装。

    (4) 安装成功后会在install目录下生成include和share目录。

  4. 使用pybind11
    (1) 首先cmake配置pybind11。

cmake_minimum_required(VERSION 3.2)project(wecat_3d_sdk)set(CMAKE_BUILD_TYPE "RelWithDebInfo")set(3RD_PATH  ${PROJECT_SOURCE_DIR}/3rd)set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin/debug)set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin/debug)set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PROJECT_SOURCE_DIR}/bin/debug/)set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG  ${PROJECT_SOURCE_DIR}/bin/debug/)set(CMAKE_INCLUDE_CURRENT_DIR ON)set(CMAKE_POSITION_INDEPENDENT_CODE ON)set(CMAKE_CXX_STANDARD 11)set(CMAKE_CXX_STANDARD_REQUIRED ON)file(GLOB_RECURSE HEAD_LIST ${CMAKE_CURRENT_SOURCE_DIR}/src/*.h ${CMAKE_CURRENT_SOURCE_DIR}/src/*.hpp)file(GLOB_RECURSE SOURCES_LIST ${CMAKE_CURRENT_SOURCE_DIR}/src/*.c ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cc ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)set(SOURCE_FILE${HEAD_LIST}${SOURCES_LIST})include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src ${3RD_PATH}/pybind11/include)if(WIN32)set(pybind11_DIR ${3RD_PATH}/pybind11/share/cmake/pybind11)set(3RD_LIB )else()endif()find_package(pybind11 REQUIRED)pybind11_add_module(${PROJECT_NAME}_py ${SOURCE_FILE})

(2) 绑定c++中的结构体和类到python环境中。

//c++结构体和类  如下结构是个人项目中自定义结构，使用者可随意替换。#include #include #include #include struct FrameData{double x;double z;int i;int peak_width;unsigned int encoder;};using FrameFun = std::function<void(const std::vector&)>;class SDK_API Scanner{public:Scanner();~Scanner();bool connect(const std::string& ip, int time_out = 100);bool disconnect();bool capture_one_frame(std::vector& frame_data);bool start_capture(FrameFun fun = nullptr);bool stop_capture();bool save_txt(const std::string& path, const std::vector& frame_data);class Impl;std::unique_ptr impl;};
//绑定方式#include "Scanner.h"#include #include #include namespace py = pybind11;PYBIND11_MODULE(LineScanner, m){m.doc() = "line scanner sdk";py::class_(m, "FrameData").def(py::init()).def_readwrite("x", &FrameData::x).def_readwrite("z", &FrameData::z).def_readwrite("i", &FrameData::i).def_readwrite("peak_width", &FrameData::peak_width).def_readwrite("encoder", &FrameData::encoder);py::bind_vector<std::vector >(m, "FrameDataVector");py::class_(m, "Scanner").def(py::init()).def("connect", &Scanner::connect).def("disconnect", &Scanner::disconnect).def("capture_one_frame", &Scanner::capture_one_frame).def("save_txt", &Scanner::save_txt);}