From d0a40ca31f761aadfdbda6d261552f84ea27846d Mon Sep 17 00:00:00 2001
From: Rainer Kuemmerle <rainer.kuemmerle@gmail.com>
Date: Sat, 24 Feb 2024 15:08:32 +0100
Subject: [PATCH] Fix registration of types into factory

Force linking the factory registration singletons in the g2opy wrapper.
This should fix usage of the factory when statically linking the g2o
libraries.
---
 CMakeLists.txt                                  | 2 ++
 python/types/icp/py_types_icp.cpp               | 3 +++
 python/types/sba/py_types_sba.cpp               | 3 +++
 python/types/sba/py_types_six_dof_expmap.cpp    | 3 +++
 python/types/sclam2d/py_types_sclam2d.cpp       | 3 +++
 python/types/sim3/py_types_seven_dof_expmap.cpp | 3 +++
 python/types/slam2d/py_types_slam2d.cpp         | 3 +++
 python/types/slam3d/py_types_slam3d.cpp         | 3 +++
 8 files changed, 23 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6f05c281b..52dc8588f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -35,6 +35,8 @@ option (BUILD_SHARED_LIBS "Build Shared Libraries (preferred and required for th
 set (G2O_LIB_TYPE STATIC)
 if (BUILD_SHARED_LIBS)
   set (G2O_LIB_TYPE SHARED)
+else()
+  set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 endif()
 
 # On the Mac platform, configure the RPATH as per the INSTALL, to
diff --git a/python/types/icp/py_types_icp.cpp b/python/types/icp/py_types_icp.cpp
index e07b11e05..70d2e9acd 100644
--- a/python/types/icp/py_types_icp.cpp
+++ b/python/types/icp/py_types_icp.cpp
@@ -2,11 +2,14 @@
 
 #include <g2o/types/icp/types_icp.h>
 
+#include "g2o/core/factory.h"
 #include "g2opy.h"
 #include "python/core/py_base_binary_edge.h"
 #include "python/core/py_base_edge.h"
 #include "python/core/py_base_vertex.h"
 
+G2O_USE_TYPE_GROUP(icp)
+
 namespace g2o {
 
 void declareTypesICP(py::module& m) {
diff --git a/python/types/sba/py_types_sba.cpp b/python/types/sba/py_types_sba.cpp
index bdee6e7f7..b1ce05a0b 100644
--- a/python/types/sba/py_types_sba.cpp
+++ b/python/types/sba/py_types_sba.cpp
@@ -1,11 +1,14 @@
 #include "py_types_sba.h"
 
+#include "g2o/core/factory.h"
 #include "g2o/types/sba/types_sba.h"
 #include "g2o/types/sba/vertex_intrinsics.h"
 #include "g2opy.h"
 #include "python/core/py_base_binary_edge.h"
 #include "python/core/py_base_vertex.h"
 
+G2O_USE_TYPE_GROUP(sba)
+
 namespace g2o {
 
 namespace {
diff --git a/python/types/sba/py_types_six_dof_expmap.cpp b/python/types/sba/py_types_six_dof_expmap.cpp
index 4cb908e5c..73c6bccf2 100644
--- a/python/types/sba/py_types_six_dof_expmap.cpp
+++ b/python/types/sba/py_types_six_dof_expmap.cpp
@@ -1,5 +1,6 @@
 #include "py_types_six_dof_expmap.h"
 
+#include "g2o/core/factory.h"
 #include "g2o/types/sba/edge_project_xyz.h"
 #include "g2o/types/sba/types_six_dof_expmap.h"
 #include "g2o/types/slam3d/se3quat.h"
@@ -9,6 +10,8 @@
 #include "python/core/py_base_unary_edge.h"
 #include "python/core/py_base_variable_sized_edge.h"
 
+G2O_USE_TYPE_GROUP(expmap)
+
 namespace g2o {
 
 void declareTypesSixDofExpmap(py::module& m) {
diff --git a/python/types/sclam2d/py_types_sclam2d.cpp b/python/types/sclam2d/py_types_sclam2d.cpp
index 7f1371b1b..61ce8c398 100644
--- a/python/types/sclam2d/py_types_sclam2d.cpp
+++ b/python/types/sclam2d/py_types_sclam2d.cpp
@@ -1,10 +1,13 @@
 #include "py_types_sclam2d.h"
 
+#include "g2o/core/factory.h"
 #include "py_edge_se2_odom_differential_calib.h"
 #include "py_edge_se2_sensor_calib.h"
 #include "py_odometry_measurement.h"
 #include "py_vertex_odom_differential_params.h"
 
+G2O_USE_TYPE_GROUP(sclam)
+
 namespace g2o {
 
 void declareTypesSclam2d(py::module& m) {
diff --git a/python/types/sim3/py_types_seven_dof_expmap.cpp b/python/types/sim3/py_types_seven_dof_expmap.cpp
index 2f1f24090..4d5222f8e 100644
--- a/python/types/sim3/py_types_seven_dof_expmap.cpp
+++ b/python/types/sim3/py_types_seven_dof_expmap.cpp
@@ -1,10 +1,13 @@
 #include "py_types_seven_dof_expmap.h"
 
+#include "g2o/core/factory.h"
 #include "g2o/types/sim3/types_seven_dof_expmap.h"
 #include "g2opy.h"
 #include "py_sim3.h"
 #include "python/core/py_base_binary_edge.h"
 
+G2O_USE_TYPE_GROUP(sim3)
+
 namespace g2o {
 
 void declareTypesSevenDofExpmap(py::module& m) {
diff --git a/python/types/slam2d/py_types_slam2d.cpp b/python/types/slam2d/py_types_slam2d.cpp
index a5bd5a846..13186b055 100644
--- a/python/types/slam2d/py_types_slam2d.cpp
+++ b/python/types/slam2d/py_types_slam2d.cpp
@@ -1,5 +1,6 @@
 #include "py_types_slam2d.h"
 
+#include "g2o/core/factory.h"
 #include "py_edge_pointxy.h"
 #include "py_edge_se2.h"
 #include "py_edge_se2_pointxy.h"
@@ -8,6 +9,8 @@
 #include "py_vertex_point_xy.h"
 #include "py_vertex_se2.h"
 
+G2O_USE_TYPE_GROUP(slam2d)
+
 namespace g2o {
 
 void declareTypesSlam2d(py::module& m) {
diff --git a/python/types/slam3d/py_types_slam3d.cpp b/python/types/slam3d/py_types_slam3d.cpp
index faa3a41ca..c51785fa3 100644
--- a/python/types/slam3d/py_types_slam3d.cpp
+++ b/python/types/slam3d/py_types_slam3d.cpp
@@ -1,5 +1,6 @@
 #include "py_types_slam3d.h"
 
+#include "g2o/core/factory.h"
 #include "py_edge_pointxyz.h"
 #include "py_edge_se3.h"
 #include "py_edge_se3_pointxyz.h"
@@ -8,6 +9,8 @@
 #include "py_vertex_pointxyz.h"
 #include "py_vertex_se3.h"
 
+G2O_USE_TYPE_GROUP(slam3d)
+
 namespace g2o {
 
 void declareTypesSlam3d(py::module& m) {