Fix eigen ODR violations by limiting exported symbols on libbasalt.so

CMakeLists.txt

@@ -48,7 +48,6 @@ set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME_LOWERCASE}_${CPACK_PACKAGE_VERSION_M
 set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
 include(CPack)
 
-
 # Configure CCache if available
 if (NOT CMAKE_C_COMPILER_LAUNCHER AND NOT CMAKE_CXX_COMPILER_LAUNCHER)
   find_program(CCACHE_PROGRAM ccache)
@@ -289,12 +288,12 @@ add_library(basalt::magic_enum INTERFACE IMPORTED)
 set_property(TARGET basalt::magic_enum PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/magic_enum/include)
 
 # main library
-add_library(basalt SHARED)
+add_library(basalt_internal STATIC)
 
 # List all header and source files with target_sources.
 # This ensures, e.g., that QtCreator >= 6.0 properly recognize these headers to belong to the project.
 # To support cmake < 3.13, use absolute paths (see: https://crascit.com/2016/01/31/enhanced-source-file-handling-with-target_sources/)
-target_sources(basalt
+target_sources(basalt_internal
   PUBLIC
     ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/calibration/aprilgrid.h
     ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/calibration/calibration_helper.h
@@ -365,7 +364,6 @@ target_sources(basalt
     ${CMAKE_CURRENT_SOURCE_DIR}/src/linearization/linearization_abs_sc.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/src/linearization/linearization_base.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/src/linearization/linearization_rel_sc.cpp
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/monado/slam_tracker.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/src/optical_flow/optical_flow.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/src/utils/keypoints.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/src/utils/system_utils.cpp
@@ -382,45 +380,48 @@ target_sources(basalt
     ${CMAKE_CURRENT_SOURCE_DIR}/src/vi_estimator/vio_estimator.cpp
 )
 
-target_link_libraries(basalt
+target_link_libraries(basalt_internal
   PUBLIC ${STD_CXX_FS} basalt::opencv basalt::basalt-headers TBB::tbb pangolin basalt::cli11 basalt::monado
   PRIVATE basalt::magic_enum rosbag apriltag opengv nlohmann::json fmt::fmt)
-target_include_directories(basalt PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)
+target_include_directories(basalt_internal PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)
-target_compile_definitions(basalt PUBLIC ${BASALT_COMPILE_DEFINITIONS})
+target_compile_definitions(basalt_internal PUBLIC ${BASALT_COMPILE_DEFINITIONS})
-#target_compile_definitions(basalt PUBLIC BASALT_DISABLE_ASSERTS)
+#target_compile_definitions(basalt_internal PUBLIC BASALT_DISABLE_ASSERTS)
 
+add_library(basalt SHARED)
+target_sources(basalt PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src/monado/slam_tracker.cpp)
+target_link_libraries(basalt basalt_internal)
 
 add_executable(basalt_calibrate src/calibrate.cpp src/calibration/cam_calib.cpp)
-target_link_libraries(basalt_calibrate basalt pangolin basalt::cli11)
+target_link_libraries(basalt_calibrate basalt_internal pangolin basalt::cli11)
 
 add_executable(basalt_calibrate_imu src/calibrate_imu.cpp src/calibration/cam_imu_calib.cpp)
-target_link_libraries(basalt_calibrate_imu basalt pangolin basalt::cli11)
+target_link_libraries(basalt_calibrate_imu basalt_internal pangolin basalt::cli11)
 
 
 add_executable(basalt_vio_sim src/vio_sim.cpp)
-target_link_libraries(basalt_vio_sim basalt pangolin basalt::cli11)
+target_link_libraries(basalt_vio_sim basalt_internal pangolin basalt::cli11)
 
 add_executable(basalt_mapper_sim src/mapper_sim.cpp)
-target_link_libraries(basalt_mapper_sim basalt pangolin basalt::cli11)
+target_link_libraries(basalt_mapper_sim basalt_internal pangolin basalt::cli11)
 
 # mapper sim native doesn't use template free interface
 if(BASALT_INSTANTIATIONS_DOUBLE)
   add_executable(basalt_mapper_sim_naive src/mapper_sim_naive.cpp)
-  target_link_libraries(basalt_mapper_sim_naive basalt pangolin basalt::cli11)
+  target_link_libraries(basalt_mapper_sim_naive basalt_internal pangolin basalt::cli11)
 endif()
 
 add_executable(basalt_mapper src/mapper.cpp)
-target_link_libraries(basalt_mapper basalt pangolin basalt::cli11)
+target_link_libraries(basalt_mapper basalt_internal pangolin basalt::cli11)
 
 
 add_executable(basalt_opt_flow src/opt_flow.cpp)
-target_link_libraries(basalt_opt_flow basalt pangolin basalt::cli11)
+target_link_libraries(basalt_opt_flow basalt_internal pangolin basalt::cli11)
 
 add_executable(basalt_vio src/vio.cpp)
-target_link_libraries(basalt_vio basalt pangolin basalt::cli11)
+target_link_libraries(basalt_vio basalt_internal pangolin basalt::cli11)
 
 add_executable(basalt_time_alignment src/time_alignment.cpp)
-target_link_libraries(basalt_time_alignment basalt pangolin basalt::cli11)
+target_link_libraries(basalt_time_alignment basalt_internal pangolin basalt::cli11)
 
 add_executable(basalt_kitti_eval src/kitti_eval.cpp)
 target_link_libraries(basalt_kitti_eval basalt::basalt-headers basalt::cli11)
@@ -428,15 +429,24 @@ target_link_libraries(basalt_kitti_eval basalt::basalt-headers basalt::cli11)
 find_package(realsense2 QUIET)
 if(realsense2_FOUND)
   add_executable(basalt_rs_t265_record src/rs_t265_record.cpp src/device/rs_t265.cpp)
-  target_link_libraries(basalt_rs_t265_record basalt realsense2::realsense2 pangolin basalt::cli11)
+  target_link_libraries(basalt_rs_t265_record basalt_internal realsense2::realsense2 pangolin basalt::cli11)
 
   add_executable(basalt_rs_t265_vio src/rs_t265_vio.cpp src/device/rs_t265.cpp)
-  target_link_libraries(basalt_rs_t265_vio basalt realsense2::realsense2 pangolin basalt::cli11)
+  target_link_libraries(basalt_rs_t265_vio basalt_internal realsense2::realsense2 pangolin basalt::cli11)
 endif()
 
+# Let's export only the slam_tracker.hpp functions for libORB_SLAM3.so,
+# But will let a libORB_SLAM3_EXAMPLES.so for the regular ORB-SLAM3 examples to use
+# if the user builds with -DBUILD_EXAMPLES=On
+set_target_properties(${PROJECT_NAME} PROPERTIES
+  C_VISIBILITY_PRESET hidden
+  CXX_VISIBILITY_PRESET hidden
+  VISIBILITY_INLINES_HIDDEN YES
+  LINK_DEPENDS ${CMAKE_CURRENT_LIST_DIR}/cmake_modules/basalt.map
+  LINK_FLAGS "-Wl,--version-script=${CMAKE_CURRENT_LIST_DIR}/cmake_modules/basalt.map"
+)
 
-
+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
-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
   EXPORT BasaltTargets
   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
   LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib

README.md

@@ -106,12 +106,8 @@ This step is optional but you can try Basalt without Monado with one of the foll
 
 ### Monado Specifics
 
-You'll need to compile Monado with the same Eigen used in Basalt, and with the
+Note: be careful when manually enabling ASan when building Monado as some
-same flags. For that, set these with CMake:
+crashes have been reported. I'm still trying to figure out why those happen.
-`-DEIGEN3_INCLUDE_DIR=$bsltdeps/basalt/thirdparty/basalt-headers/thirdparty/eigen
--DCMAKE_C_FLAGS="-march=native" -DCMAKE_CXX_FLAGS="-march=native"` otherwise
-Monado will automatically use your system's Eigen, and having mismatched Eigen
-version/flags can cause a lot of headaches.
 
 Run an OpenXR app like `hello_xr` with the following environment variables set
 

cmake_modules/basalt.map

@@ -0,0 +1,25 @@
+LIBXRTSLAM_BASALT_4.0.0 {
+  global:
+    extern "C++" {
+      xrt::auxiliary::tracking::slam::slam_tracker::slam_tracker*;
+      xrt::auxiliary::tracking::slam::slam_tracker::*slam_tracker*;
+
+      xrt::auxiliary::tracking::slam::slam_tracker::initialize*;
+      xrt::auxiliary::tracking::slam::slam_tracker::start*;
+      xrt::auxiliary::tracking::slam::slam_tracker::is_running*;
+      xrt::auxiliary::tracking::slam::slam_tracker::stop*;
+      xrt::auxiliary::tracking::slam::slam_tracker::finalize*;
+
+      xrt::auxiliary::tracking::slam::slam_tracker::push_imu_sample*;
+      xrt::auxiliary::tracking::slam::slam_tracker::push_frame*;
+      xrt::auxiliary::tracking::slam::slam_tracker::try_dequeue_pose*;
+
+      xrt::auxiliary::tracking::slam::slam_tracker::supports_feature*;
+      xrt::auxiliary::tracking::slam::slam_tracker::use_feature*;
+
+      xrt::auxiliary::tracking::slam::IMPLEMENTATION_VERSION_MAJOR*;
+      xrt::auxiliary::tracking::slam::IMPLEMENTATION_VERSION_MINOR*;
+      xrt::auxiliary::tracking::slam::IMPLEMENTATION_VERSION_PATCH*
+    };
+  local: *;
+};

src/monado/slam_tracker.cpp

@@ -22,11 +22,17 @@
 #include <basalt/vi_estimator/vio_estimator.h>
 #include "basalt/utils/vis_utils.h"
 
+#if defined(_WIN32) || defined(__CYGWIN__)
+#define EXPORT __declspec(dllexport)
+#else
+#define EXPORT __attribute__((visibility("default")))
+#endif
+
 namespace xrt::auxiliary::tracking::slam {
 
-const int IMPLEMENTATION_VERSION_MAJOR = HEADER_VERSION_MAJOR;
+EXPORT extern const int IMPLEMENTATION_VERSION_MAJOR = HEADER_VERSION_MAJOR;
-const int IMPLEMENTATION_VERSION_MINOR = HEADER_VERSION_MINOR;
+EXPORT extern const int IMPLEMENTATION_VERSION_MINOR = HEADER_VERSION_MINOR;
-const int IMPLEMENTATION_VERSION_PATCH = HEADER_VERSION_PATCH;
+EXPORT extern const int IMPLEMENTATION_VERSION_PATCH = HEADER_VERSION_PATCH;
 
 using std::cout;
 using std::make_shared;
@@ -41,28 +47,6 @@ using std::unordered_set;
 using std::vector;
 using namespace basalt;
 
-string imu2str(const imu_sample &s) {
-  string str = "imu_sample ";
-  str += "t=" + to_string(s.timestamp) + " ";
-  str += "a=[" + to_string(s.ax) + ", " + to_string(s.ay) + ", " + to_string(s.az) + "] ";
-  str += "w=[" + to_string(s.wx) + ", " + to_string(s.wy) + ", " + to_string(s.wz) + "]";
-  return str;
-}
-
-string img2str(const img_sample &s) {
-  string str = "img_sample ";
-  str += s.is_left ? "left " : "right ";
-  str += "t=" + to_string(s.timestamp);
-  return str;
-}
-
-string pose2str(const pose &p) {
-  string str = "pose ";
-  str += "p=[" + to_string(p.px) + ", " + to_string(p.py) + ", " + to_string(p.pz) + "] ";
-  str += "r=[" + to_string(p.rx) + ", " + to_string(p.ry) + ", " + to_string(p.rz) + ", " + to_string(p.rw) + "]";
-  return str;
-}
-
 static const vector<string> timing_titles{
     "frame_ts",
     "tracker_received",
@@ -547,29 +531,29 @@ struct slam_tracker::implementation {
   void enable_pose_ext_features(bool enable) { pose_features_enabled = enable; }
 };
 
-slam_tracker::slam_tracker(const string &config_file) { impl = make_unique<slam_tracker::implementation>(config_file); }
+EXPORT slam_tracker::slam_tracker(const string &config_file) { impl = make_unique<slam_tracker::implementation>(config_file); }
 
-slam_tracker::~slam_tracker() = default;
+EXPORT slam_tracker::~slam_tracker() = default;
 
-void slam_tracker::initialize() { impl->initialize(); }
+EXPORT void slam_tracker::initialize() { impl->initialize(); }
 
-void slam_tracker::start() { impl->start(); }
+EXPORT void slam_tracker::start() { impl->start(); }
 
-void slam_tracker::stop() { impl->stop(); }
+EXPORT void slam_tracker::stop() { impl->stop(); }
 
-void slam_tracker::finalize() { impl->finalize(); }
+EXPORT void slam_tracker::finalize() { impl->finalize(); }
 
-bool slam_tracker::is_running() { return impl->is_running(); }
+EXPORT bool slam_tracker::is_running() { return impl->is_running(); }
 
-void slam_tracker::push_imu_sample(const imu_sample &s) { impl->push_imu_sample(s); }
+EXPORT void slam_tracker::push_imu_sample(const imu_sample &s) { impl->push_imu_sample(s); }
 
-void slam_tracker::push_frame(const img_sample &sample) { impl->push_frame(sample); }
+EXPORT void slam_tracker::push_frame(const img_sample &sample) { impl->push_frame(sample); }
 
-bool slam_tracker::try_dequeue_pose(pose &pose) { return impl->try_dequeue_pose(pose); }
+EXPORT bool slam_tracker::try_dequeue_pose(pose &pose) { return impl->try_dequeue_pose(pose); }
 
-bool slam_tracker::supports_feature(int feature_id) { return impl->supports_feature(feature_id); }
+EXPORT bool slam_tracker::supports_feature(int feature_id) { return impl->supports_feature(feature_id); }
 
-bool slam_tracker::use_feature(int feature_id, const shared_ptr<void> &params, shared_ptr<void> &result) {
+EXPORT bool slam_tracker::use_feature(int feature_id, const shared_ptr<void> &params, shared_ptr<void> &result) {
   return impl->use_feature(feature_id, params, result);
 }
 

src/monado/slam_tracker_ui.hpp

@@ -1,5 +1,6 @@
 #pragma once
 
+#include "pangolin/display/display.h"
 #include <pangolin/display/image_view.h>
 #include <pangolin/pangolin.h>
 
@@ -230,7 +231,7 @@ class slam_tracker_ui {
       pangolin::FinishFrame();
     }
 
-    pangolin::DestroyWindow(window_name);
+    pangolin::QuitAll();
     cout << "Finished ui_runner\n";
   }
 

test/CMakeLists.txt

@@ -6,22 +6,22 @@ include_directories(../thirdparty/basalt-headers/test/include)
 
 
 add_executable(test_spline_opt src/test_spline_opt.cpp)
-target_link_libraries(test_spline_opt gtest gtest_main basalt)
+target_link_libraries(test_spline_opt gtest gtest_main basalt_internal)
 
 add_executable(test_vio src/test_vio.cpp)
-target_link_libraries(test_vio gtest gtest_main basalt)
+target_link_libraries(test_vio gtest gtest_main basalt_internal)
 
 add_executable(test_nfr src/test_nfr.cpp)
-target_link_libraries(test_nfr gtest gtest_main basalt)
+target_link_libraries(test_nfr gtest gtest_main basalt_internal)
 
 add_executable(test_qr src/test_qr.cpp)
-target_link_libraries(test_qr gtest gtest_main basalt)
+target_link_libraries(test_qr gtest gtest_main basalt_internal)
 
 add_executable(test_linearization src/test_linearization.cpp)
-target_link_libraries(test_linearization gtest gtest_main basalt)
+target_link_libraries(test_linearization gtest gtest_main basalt_internal)
 
 add_executable(test_patch src/test_patch.cpp)
-target_link_libraries(test_patch gtest gtest_main basalt)
+target_link_libraries(test_patch gtest gtest_main basalt_internal)
 
 enable_testing()
 

thirdparty/basalt-headers

@@ -1 +1 @@
-Subproject commit ff99f3d040fb6aeb3535338ba69c6300191c9bda
+Subproject commit 233c6b901771f50a6a135b583a38885f0c3d6ed9