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CODE LAB

Some exercises of C++ and python

setup

  1. git clone --recurse-submodules [email protected]:1344618323/code_lab.git

  2. use docker

    # build a ubuntu20 image
cd /home/cxn/leofile/code_lab/docker
docker build -t ubuntu20-image .

# build container
bash docker_run.sh --run --image-name ubuntu20-image --container-name ubuntu20-container

  3. compile thirdparty

    cd /home/cxn/leofile/code_lab/Thirdparty
sh ./build_thirdparty.sh

  4. complie source

    cd /home/cxn/leofile/code_lab
make

  5. complie python_script/csrc

    cd /home/cxn/leofile/code_lab/python_script/leo_common/leo_common/csrc/
sh build.sh
# the python lib will be exported into `csrc`

  6. intall leo_common python lib (optional)

    cd /home/cxn/leofile/code_lab/python_script/
pip install leo_common/

# run example
python3 /home/cxn/leofile/code_lab/python_script/leo_common_example.py

pitfalls

Pangolin

不知道为啥，如果没有把Pangolin安装到系统默认路径下，而是自定义的路径下，编译出的可执行文件运行时，有：

cxn@cxn-XPS-15-7590:~/leofile/code_lab/build$ ldd main
libpango_display.so => /home/cxn/leofile/code_lab/Thirdparty/Thirdparty_install/lib/libpango_display.so (0x00007a3f8da1b000)
libpango_opengl.so => /home/cxn/leofile/code_lab/Thirdparty/Thirdparty_install/lib/libpango_opengl.so (0x00007a3f8d9d0000)
libpango_windowing.so => not found
libpango_vars.so => not found
libpango_image.so => not found
libpango_core.so => not found

一部分pango lib找到了，一部分找不到。个人感觉是pangolin代码的锅。解决办法：

  1. 直接把pangolin转到/usr/local下算球
  2. 运行可执行文件前，执行export LD_LIBRARY_PATH=/home/cxn/leofile/code_lab/Thirdparty/Thirdparty_install/lib:$LD_LIBRARY_PATH

pybind11

在编译python_script/csrc，要注意生成python lib会使用当前python解释器。若编译时采用host(conda) python + container c lib的组合，可能会在运行时出现找不到动态库的情况。最好用container python + container c lib的组合吧。