将C++与Go链接

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英文:

Linking C++ with Go

问题

我正在尝试将C++的OpenCV程序与Go语言绑定。我正在使用来自<https://stackoverflow.com/questions/16747021/how-do-you-statically-link-a-c-library-in-go-using-cgo>的概念。我的myimgcom.cpp文件如下:

/**
* @file SURF_FlannMatcher
* @brief SURF detector + descriptor + FLANN Matcher
* @author A. Huaman
 Edited: nnnnn
*/

#include <stdio.h>
#include <string>
#include <iostream>
#include "opencv2/core/core.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/nonfree/features2d.hpp"

using namespace cv;

void readme();

int mysurf(int myarg)
{

 string option1 = "./Lenna.png";
 string option2 = "./Lenna.png";

 if (myarg != 3)
 {
     readme();
     return -1;
 }

 std::cout << option1 << option2;

 Mat img_1 = imread(option1, CV_LOAD_IMAGE_GRAYSCALE);
 Mat img_2 = imread(option2, CV_LOAD_IMAGE_GRAYSCALE);

 if (!img_1.data || !img_2.data)
 {
     std::cout << " --(!) Error reading images " << std::endl;
     return -1;
 }

 //-- Step 1: Detect the keypoints using SURF Detector
 int minHessian = 400;

 SurfFeatureDetector detector(minHessian);

 std::vector<KeyPoint> keypoints_1, keypoints_2;

 detector.detect(img_1, keypoints_1);
 detector.detect(img_2, keypoints_2);

 //-- Step 2: Calculate descriptors (feature vectors)
 SurfDescriptorExtractor extractor;

 Mat descriptors_1, descriptors_2;

 extractor.compute(img_1, keypoints_1, descriptors_1);
 extractor.compute(img_2, keypoints_2, descriptors_2);

 //-- Step 3: Matching descriptor vectors using FLANN matcher
 FlannBasedMatcher matcher;
 std::vector<DMatch> matches;
 matcher.match(descriptors_1, descriptors_2, matches);

 double max_dist = 0;
 double min_dist = 100;

 //-- Quick calculation of max and min distances between keypoints
 for (int i = 0; i < descriptors_1.rows; i++)
 {
     double dist = matches[i].distance;
     if (dist < min_dist)
         min_dist = dist;
     if (dist > max_dist)
         max_dist = dist;
 }

 printf("-- Max dist : %f \n", max_dist);
 printf("-- Min dist : %f \n", min_dist);

 std::vector<DMatch> good_matches;

 for (int i = 0; i < descriptors_1.rows; i++)
 {
     if (matches[i].distance <= max(4 * min_dist, 0.02))
     {
         good_matches.push_back(matches[i]);
     }
 }

 //-- Draw only "good" matches
 Mat img_matches;
 drawMatches(img_1, keypoints_1, img_2, keypoints_2,
             good_matches, img_matches, Scalar::all(-1), Scalar::all(-1),
             vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);

 //-- Show detected matches
 imshow("Good Matches", img_matches);

 for (int i = 0; i < (int)good_matches.size(); i++)
 {
     printf("-- Good Match [%d] Keypoint 1: %d  -- Keypoint 2: %d  \n", i, good_matches[i].queryIdx, good_matches[i].trainIdx);
 }

 waitKey(0);

 return 0;
}

void readme()
{
 std::cout << " Usage: ./SURF_FlannMatcher <img1> <img2>" << std::endl;
}

接下来,我的头文件myimgcom.h文件如下:

int mysurf(int);
void readme();

接下来,我的imagetest.go文件如下:

package main

import "fmt"

// #include "myimgcom.h"
import "C"

func main() {
 fmt.Printf("Invoking c library...\n")
 C.mysurf(3)
}

我执行以下命令:

gcc -O2 -c myimgcom.cpp -> 成功运行
ar q libgb.a myimgcom.o -> 成功运行
go build imagetest.go -> 这里我得到以下错误:
# command-line-arguments
Undefined symbols for architecture x86_64:
"_mysurf", referenced from:
__cgo_8db0969da00f_Cfunc_mysurf in imagetest.cgo2.o
(maybe you meant: __cgo_8db0969da00f_Cfunc_mysurf)
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see invocation)

我认为问题是链接pkg config和cflags与cgo。有人能建议我如何解决这个问题吗?我正在使用Mac OS。

英文:

I am trying to bind C++ OpenCV programs with Go. I am using the concept from <https://stackoverflow.com/questions/16747021/how-do-you-statically-link-a-c-library-in-go-using-cgo>[1]. My myimgcom.cpp file is:

/**
* @file SURF_FlannMatcher
* @brief SURF detector + descriptor + FLANN Matcher
* @author A. Huaman
Edited: nnnnn
*/
#include &lt;stdio.h&gt;
#include &lt;string&gt;
#include &lt;iostream&gt;
#include &quot;opencv2/core/core.hpp&quot;
#include &quot;opencv2/features2d/features2d.hpp&quot;
#include &quot;opencv2/highgui/highgui.hpp&quot;
#include &quot;opencv2/nonfree/features2d.hpp&quot;
using namespace cv;
void readme();
int mysurf( int myarg)
{
string option1= &quot;./Lenna.png&quot;;
string option2= &quot;./Lenna.png&quot;;
if( myarg != 3 )
{ readme(); return -1; }
std::cout &lt;&lt; option1 &lt;&lt; option2;
Mat img_1 = imread( option1, CV_LOAD_IMAGE_GRAYSCALE );
Mat img_2 = imread( option2, CV_LOAD_IMAGE_GRAYSCALE );
if( !img_1.data || !img_2.data )
{ std::cout&lt;&lt; &quot; --(!) Error reading images &quot; &lt;&lt; std::endl; return -1; }
//-- Step 1: Detect the keypoints using SURF Detector
int minHessian = 400;
SurfFeatureDetector detector( minHessian );
std::vector&lt;KeyPoint&gt; keypoints_1, keypoints_2;
detector.detect( img_1, keypoints_1 );
detector.detect( img_2, keypoints_2 );
//-- Step 2: Calculate descriptors (feature vectors)
SurfDescriptorExtractor extractor;
Mat descriptors_1, descriptors_2;
extractor.compute( img_1, keypoints_1, descriptors_1 );
extractor.compute( img_2, keypoints_2, descriptors_2 );
//-- Step 3: Matching descriptor vectors using FLANN matcher
FlannBasedMatcher matcher;
std::vector&lt; DMatch &gt; matches;
matcher.match( descriptors_1, descriptors_2, matches );
double max_dist = 0; double min_dist = 100;
//-- Quick calculation of max and min distances between keypoints
for( int i = 0; i &lt; descriptors_1.rows; i++ )
{ double dist = matches[i].distance;
if( dist &lt; min_dist ) min_dist = dist;
if( dist &gt; max_dist ) max_dist = dist;
}
printf(&quot;-- Max dist : %f \n&quot;, max_dist );
printf(&quot;-- Min dist : %f \n&quot;, min_dist );
std::vector&lt; DMatch &gt; good_matches;
for( int i = 0; i &lt; descriptors_1.rows; i++ )
{ if( matches[i].distance &lt;= max(4*min_dist, 0.02) )
{ good_matches.push_back( matches[i]); }
}
//-- Draw only &quot;good&quot; matches
Mat img_matches;
drawMatches( img_1, keypoints_1, img_2, keypoints_2,
good_matches, img_matches, Scalar::all(-1), Scalar::all(-1),
vector&lt;char&gt;(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
//-- Show detected matches
imshow( &quot;Good Matches&quot;, img_matches );
for( int i = 0; i &lt; (int)good_matches.size(); i++ )
{ printf( &quot;-- Good Match [%d] Keypoint 1: %d  -- Keypoint 2: %d  \n&quot;, i,    good_matches[i].queryIdx, good_matches[i].trainIdx ); }
waitKey(0);
return 0;
}
void readme()
{ std::cout &lt;&lt; &quot; Usage: ./SURF_FlannMatcher &lt;img1&gt; &lt;img2&gt;&quot; &lt;&lt; std::endl; }

Next, my header file myimgcom.h file is:

int mysurf( int);
void readme();

Next, my imagetest.go file is:

package main
import &quot;fmt&quot;
// #include &quot;myimgcom.h&quot;
import &quot;C&quot;
func main() {
fmt.Printf(&quot;Invoking c library...\n&quot;)
C.mysurf( 3)
}

I am doing the following commands:

 gcc -O2 -c myimgcom.cpp  -&gt; runs successfully
ar q libgb.a myimgcom.o  -&gt; runs successfully
go build imagetest.go    -&gt; Here I get the following error:
# command-line-arguments
Undefined symbols for architecture x86_64:
&quot;_mysurf&quot;, referenced from:
__cgo_8db0969da00f_Cfunc_mysurf in imagetest.cgo2.o
(maybe you meant: __cgo_8db0969da00f_Cfunc_mysurf)
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see invocation)

I think the problem is linking the pkg config and cflags with cgo. Can anybody suggest me how can I solve the issue? I am working with Mac OS.

答案1

得分: 2

C++不是C语言,调用约定也不同。几乎不可能直接调用C++。如果你想从Go语言中调用它,首先需要创建一个C语言的包装器。在你的情况下,通过在函数声明中添加"extern C"应该可以工作。

extern "C"
int mysurf(int myarg)
{
    // 在这里编写代码
}
英文:

C++ isn't C, and call conventions are different. It's almost impossible to call C++ directly. If you want to call it from Go, first do a C wrapper. In your case by adding "extern C" to function declarations should work.

extern &quot;C&quot;
int mysurf(int myarg)
{
// code here
} 

huangapple
  • 本文由 发表于 2015年7月17日 20:37:03
  • 转载请务必保留本文链接:https://go.coder-hub.com/31476014.html
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