Fix eigen ODR violations by limiting exported symbols on libbasalt.so
This commit is contained in:
Mateo de Mayo
parent
1a51e4bbda
commit
d2db20106d
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@ -48,7 +48,6 @@ set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME_LOWERCASE}_${CPACK_PACKAGE_VERSION_M
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set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
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include(CPack)
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# Configure CCache if available
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if (NOT CMAKE_C_COMPILER_LAUNCHER AND NOT CMAKE_CXX_COMPILER_LAUNCHER)
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find_program(CCACHE_PROGRAM ccache)
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@ -289,12 +288,12 @@ add_library(basalt::magic_enum INTERFACE IMPORTED)
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set_property(TARGET basalt::magic_enum PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/magic_enum/include)
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# main library
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add_library(basalt SHARED)
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add_library(basalt_internal STATIC)
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# List all header and source files with target_sources.
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# This ensures, e.g., that QtCreator >= 6.0 properly recognize these headers to belong to the project.
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# To support cmake < 3.13, use absolute paths (see: https://crascit.com/2016/01/31/enhanced-source-file-handling-with-target_sources/)
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target_sources(basalt
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target_sources(basalt_internal
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PUBLIC
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${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/calibration/aprilgrid.h
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${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/calibration/calibration_helper.h
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@ -365,7 +364,6 @@ target_sources(basalt
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${CMAKE_CURRENT_SOURCE_DIR}/src/linearization/linearization_abs_sc.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/linearization/linearization_base.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/linearization/linearization_rel_sc.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/monado/slam_tracker.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/optical_flow/optical_flow.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/utils/keypoints.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/utils/system_utils.cpp
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@ -382,45 +380,48 @@ target_sources(basalt
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${CMAKE_CURRENT_SOURCE_DIR}/src/vi_estimator/vio_estimator.cpp
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)
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target_link_libraries(basalt
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target_link_libraries(basalt_internal
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PUBLIC ${STD_CXX_FS} basalt::opencv basalt::basalt-headers TBB::tbb pangolin basalt::cli11 basalt::monado
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PRIVATE basalt::magic_enum rosbag apriltag opengv nlohmann::json fmt::fmt)
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target_include_directories(basalt PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)
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target_compile_definitions(basalt PUBLIC ${BASALT_COMPILE_DEFINITIONS})
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#target_compile_definitions(basalt PUBLIC BASALT_DISABLE_ASSERTS)
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target_include_directories(basalt_internal PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)
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target_compile_definitions(basalt_internal PUBLIC ${BASALT_COMPILE_DEFINITIONS})
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#target_compile_definitions(basalt_internal PUBLIC BASALT_DISABLE_ASSERTS)
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add_library(basalt SHARED)
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target_sources(basalt PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src/monado/slam_tracker.cpp)
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target_link_libraries(basalt basalt_internal)
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add_executable(basalt_calibrate src/calibrate.cpp src/calibration/cam_calib.cpp)
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target_link_libraries(basalt_calibrate basalt pangolin basalt::cli11)
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target_link_libraries(basalt_calibrate basalt_internal pangolin basalt::cli11)
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add_executable(basalt_calibrate_imu src/calibrate_imu.cpp src/calibration/cam_imu_calib.cpp)
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target_link_libraries(basalt_calibrate_imu basalt pangolin basalt::cli11)
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target_link_libraries(basalt_calibrate_imu basalt_internal pangolin basalt::cli11)
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add_executable(basalt_vio_sim src/vio_sim.cpp)
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target_link_libraries(basalt_vio_sim basalt pangolin basalt::cli11)
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target_link_libraries(basalt_vio_sim basalt_internal pangolin basalt::cli11)
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add_executable(basalt_mapper_sim src/mapper_sim.cpp)
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target_link_libraries(basalt_mapper_sim basalt pangolin basalt::cli11)
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target_link_libraries(basalt_mapper_sim basalt_internal pangolin basalt::cli11)
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# mapper sim native doesn't use template free interface
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if(BASALT_INSTANTIATIONS_DOUBLE)
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add_executable(basalt_mapper_sim_naive src/mapper_sim_naive.cpp)
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target_link_libraries(basalt_mapper_sim_naive basalt pangolin basalt::cli11)
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target_link_libraries(basalt_mapper_sim_naive basalt_internal pangolin basalt::cli11)
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endif()
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add_executable(basalt_mapper src/mapper.cpp)
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target_link_libraries(basalt_mapper basalt pangolin basalt::cli11)
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target_link_libraries(basalt_mapper basalt_internal pangolin basalt::cli11)
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add_executable(basalt_opt_flow src/opt_flow.cpp)
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target_link_libraries(basalt_opt_flow basalt pangolin basalt::cli11)
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target_link_libraries(basalt_opt_flow basalt_internal pangolin basalt::cli11)
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add_executable(basalt_vio src/vio.cpp)
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target_link_libraries(basalt_vio basalt pangolin basalt::cli11)
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target_link_libraries(basalt_vio basalt_internal pangolin basalt::cli11)
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add_executable(basalt_time_alignment src/time_alignment.cpp)
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target_link_libraries(basalt_time_alignment basalt pangolin basalt::cli11)
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target_link_libraries(basalt_time_alignment basalt_internal pangolin basalt::cli11)
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add_executable(basalt_kitti_eval src/kitti_eval.cpp)
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target_link_libraries(basalt_kitti_eval basalt::basalt-headers basalt::cli11)
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@ -428,15 +429,24 @@ target_link_libraries(basalt_kitti_eval basalt::basalt-headers basalt::cli11)
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find_package(realsense2 QUIET)
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if(realsense2_FOUND)
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add_executable(basalt_rs_t265_record src/rs_t265_record.cpp src/device/rs_t265.cpp)
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target_link_libraries(basalt_rs_t265_record basalt realsense2::realsense2 pangolin basalt::cli11)
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target_link_libraries(basalt_rs_t265_record basalt_internal realsense2::realsense2 pangolin basalt::cli11)
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add_executable(basalt_rs_t265_vio src/rs_t265_vio.cpp src/device/rs_t265.cpp)
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target_link_libraries(basalt_rs_t265_vio basalt realsense2::realsense2 pangolin basalt::cli11)
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target_link_libraries(basalt_rs_t265_vio basalt_internal realsense2::realsense2 pangolin basalt::cli11)
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endif()
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# Let's export only the slam_tracker.hpp functions for libORB_SLAM3.so,
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# But will let a libORB_SLAM3_EXAMPLES.so for the regular ORB-SLAM3 examples to use
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# if the user builds with -DBUILD_EXAMPLES=On
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set_target_properties(${PROJECT_NAME} PROPERTIES
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C_VISIBILITY_PRESET hidden
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CXX_VISIBILITY_PRESET hidden
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VISIBILITY_INLINES_HIDDEN YES
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LINK_DEPENDS ${CMAKE_CURRENT_LIST_DIR}/cmake_modules/basalt.map
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LINK_FLAGS "-Wl,--version-script=${CMAKE_CURRENT_LIST_DIR}/cmake_modules/basalt.map"
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)
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install(TARGETS basalt_calibrate basalt_calibrate_imu basalt_vio_sim basalt_mapper_sim basalt_mapper basalt_opt_flow basalt_vio basalt_kitti_eval basalt_time_alignment basalt
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install(TARGETS basalt basalt_calibrate basalt_calibrate_imu basalt_vio_sim basalt_mapper_sim basalt_mapper basalt_opt_flow basalt_vio basalt_kitti_eval basalt_time_alignment
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EXPORT BasaltTargets
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RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
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LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
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@ -106,12 +106,8 @@ This step is optional but you can try Basalt without Monado with one of the foll
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### Monado Specifics
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You'll need to compile Monado with the same Eigen used in Basalt, and with the
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same flags. For that, set these with CMake:
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`-DEIGEN3_INCLUDE_DIR=$bsltdeps/basalt/thirdparty/basalt-headers/thirdparty/eigen
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-DCMAKE_C_FLAGS="-march=native" -DCMAKE_CXX_FLAGS="-march=native"` otherwise
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Monado will automatically use your system's Eigen, and having mismatched Eigen
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version/flags can cause a lot of headaches.
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Note: be careful when manually enabling ASan when building Monado as some
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crashes have been reported. I'm still trying to figure out why those happen.
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Run an OpenXR app like `hello_xr` with the following environment variables set
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@ -0,0 +1,25 @@
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LIBXRTSLAM_BASALT_4.0.0 {
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global:
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extern "C++" {
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xrt::auxiliary::tracking::slam::slam_tracker::slam_tracker*;
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xrt::auxiliary::tracking::slam::slam_tracker::*slam_tracker*;
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xrt::auxiliary::tracking::slam::slam_tracker::initialize*;
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xrt::auxiliary::tracking::slam::slam_tracker::start*;
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xrt::auxiliary::tracking::slam::slam_tracker::is_running*;
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xrt::auxiliary::tracking::slam::slam_tracker::stop*;
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xrt::auxiliary::tracking::slam::slam_tracker::finalize*;
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xrt::auxiliary::tracking::slam::slam_tracker::push_imu_sample*;
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xrt::auxiliary::tracking::slam::slam_tracker::push_frame*;
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xrt::auxiliary::tracking::slam::slam_tracker::try_dequeue_pose*;
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xrt::auxiliary::tracking::slam::slam_tracker::supports_feature*;
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xrt::auxiliary::tracking::slam::slam_tracker::use_feature*;
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xrt::auxiliary::tracking::slam::IMPLEMENTATION_VERSION_MAJOR*;
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xrt::auxiliary::tracking::slam::IMPLEMENTATION_VERSION_MINOR*;
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xrt::auxiliary::tracking::slam::IMPLEMENTATION_VERSION_PATCH*
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};
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local: *;
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};
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@ -22,11 +22,17 @@
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#include <basalt/vi_estimator/vio_estimator.h>
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#include "basalt/utils/vis_utils.h"
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#if defined(_WIN32) || defined(__CYGWIN__)
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#define EXPORT __declspec(dllexport)
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#else
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#define EXPORT __attribute__((visibility("default")))
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#endif
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namespace xrt::auxiliary::tracking::slam {
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const int IMPLEMENTATION_VERSION_MAJOR = HEADER_VERSION_MAJOR;
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const int IMPLEMENTATION_VERSION_MINOR = HEADER_VERSION_MINOR;
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const int IMPLEMENTATION_VERSION_PATCH = HEADER_VERSION_PATCH;
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EXPORT extern const int IMPLEMENTATION_VERSION_MAJOR = HEADER_VERSION_MAJOR;
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EXPORT extern const int IMPLEMENTATION_VERSION_MINOR = HEADER_VERSION_MINOR;
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EXPORT extern const int IMPLEMENTATION_VERSION_PATCH = HEADER_VERSION_PATCH;
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using std::cout;
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using std::make_shared;
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@ -41,28 +47,6 @@ using std::unordered_set;
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using std::vector;
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using namespace basalt;
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string imu2str(const imu_sample &s) {
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string str = "imu_sample ";
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str += "t=" + to_string(s.timestamp) + " ";
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str += "a=[" + to_string(s.ax) + ", " + to_string(s.ay) + ", " + to_string(s.az) + "] ";
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str += "w=[" + to_string(s.wx) + ", " + to_string(s.wy) + ", " + to_string(s.wz) + "]";
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return str;
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}
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string img2str(const img_sample &s) {
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string str = "img_sample ";
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str += s.is_left ? "left " : "right ";
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str += "t=" + to_string(s.timestamp);
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return str;
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}
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string pose2str(const pose &p) {
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string str = "pose ";
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str += "p=[" + to_string(p.px) + ", " + to_string(p.py) + ", " + to_string(p.pz) + "] ";
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str += "r=[" + to_string(p.rx) + ", " + to_string(p.ry) + ", " + to_string(p.rz) + ", " + to_string(p.rw) + "]";
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return str;
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}
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static const vector<string> timing_titles{
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"frame_ts",
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"tracker_received",
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@ -547,29 +531,29 @@ struct slam_tracker::implementation {
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void enable_pose_ext_features(bool enable) { pose_features_enabled = enable; }
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};
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slam_tracker::slam_tracker(const string &config_file) { impl = make_unique<slam_tracker::implementation>(config_file); }
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EXPORT slam_tracker::slam_tracker(const string &config_file) { impl = make_unique<slam_tracker::implementation>(config_file); }
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slam_tracker::~slam_tracker() = default;
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EXPORT slam_tracker::~slam_tracker() = default;
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void slam_tracker::initialize() { impl->initialize(); }
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EXPORT void slam_tracker::initialize() { impl->initialize(); }
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void slam_tracker::start() { impl->start(); }
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EXPORT void slam_tracker::start() { impl->start(); }
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void slam_tracker::stop() { impl->stop(); }
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EXPORT void slam_tracker::stop() { impl->stop(); }
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void slam_tracker::finalize() { impl->finalize(); }
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EXPORT void slam_tracker::finalize() { impl->finalize(); }
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bool slam_tracker::is_running() { return impl->is_running(); }
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EXPORT bool slam_tracker::is_running() { return impl->is_running(); }
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void slam_tracker::push_imu_sample(const imu_sample &s) { impl->push_imu_sample(s); }
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EXPORT void slam_tracker::push_imu_sample(const imu_sample &s) { impl->push_imu_sample(s); }
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void slam_tracker::push_frame(const img_sample &sample) { impl->push_frame(sample); }
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EXPORT void slam_tracker::push_frame(const img_sample &sample) { impl->push_frame(sample); }
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bool slam_tracker::try_dequeue_pose(pose &pose) { return impl->try_dequeue_pose(pose); }
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EXPORT bool slam_tracker::try_dequeue_pose(pose &pose) { return impl->try_dequeue_pose(pose); }
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bool slam_tracker::supports_feature(int feature_id) { return impl->supports_feature(feature_id); }
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EXPORT bool slam_tracker::supports_feature(int feature_id) { return impl->supports_feature(feature_id); }
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bool slam_tracker::use_feature(int feature_id, const shared_ptr<void> ¶ms, shared_ptr<void> &result) {
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EXPORT bool slam_tracker::use_feature(int feature_id, const shared_ptr<void> ¶ms, shared_ptr<void> &result) {
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return impl->use_feature(feature_id, params, result);
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}
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@ -1,5 +1,6 @@
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#pragma once
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#include "pangolin/display/display.h"
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#include <pangolin/display/image_view.h>
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#include <pangolin/pangolin.h>
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@ -230,7 +231,7 @@ class slam_tracker_ui {
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pangolin::FinishFrame();
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}
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pangolin::DestroyWindow(window_name);
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pangolin::QuitAll();
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cout << "Finished ui_runner\n";
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}
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@ -6,22 +6,22 @@ include_directories(../thirdparty/basalt-headers/test/include)
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add_executable(test_spline_opt src/test_spline_opt.cpp)
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target_link_libraries(test_spline_opt gtest gtest_main basalt)
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target_link_libraries(test_spline_opt gtest gtest_main basalt_internal)
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add_executable(test_vio src/test_vio.cpp)
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target_link_libraries(test_vio gtest gtest_main basalt)
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target_link_libraries(test_vio gtest gtest_main basalt_internal)
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add_executable(test_nfr src/test_nfr.cpp)
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target_link_libraries(test_nfr gtest gtest_main basalt)
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target_link_libraries(test_nfr gtest gtest_main basalt_internal)
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add_executable(test_qr src/test_qr.cpp)
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target_link_libraries(test_qr gtest gtest_main basalt)
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target_link_libraries(test_qr gtest gtest_main basalt_internal)
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add_executable(test_linearization src/test_linearization.cpp)
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target_link_libraries(test_linearization gtest gtest_main basalt)
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target_link_libraries(test_linearization gtest gtest_main basalt_internal)
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add_executable(test_patch src/test_patch.cpp)
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target_link_libraries(test_patch gtest gtest_main basalt)
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target_link_libraries(test_patch gtest gtest_main basalt_internal)
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enable_testing()
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@ -1 +1 @@
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Subproject commit ff99f3d040fb6aeb3535338ba69c6300191c9bda
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Subproject commit 233c6b901771f50a6a135b583a38885f0c3d6ed9
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