Test hidden visibility default on gcc

CMakeLists.txt

@@ -121,6 +121,9 @@ if(CMAKE_COMPILER_IS_GNUCXX)
     endif()
     string(APPEND CMAKE_CXX_FLAGS " -Wall -Wextra -fno-strict-aliasing ${SSE_FLAGS} ${AVX_FLAGS}")
   endif()
+  if(PCL_SYMBOL_VISIBILITY_HIDDEN)
+    string(APPEND CMAKE_CXX_FLAGS " -fvisibility=hidden -fvisibility-inlines-hidden")
+  endif()
 
   if(PCL_WARNINGS_ARE_ERRORS)
     string(APPEND CMAKE_CXX_FLAGS " -Werror -fno-strict-aliasing")
@@ -229,6 +232,9 @@ if(CMAKE_COMPILER_IS_CLANG)
       string(APPEND CMAKE_CXX_FLAGS " -stdlib=libstdc++")
     endif()
   endif()
+  if(PCL_SYMBOL_VISIBILITY_HIDDEN)
+    string(APPEND CMAKE_CXX_FLAGS " -fvisibility=hidden -fvisibility-inlines-hidden")
+  endif()
   set(CLANG_LIBRARIES "stdc++")
 endif()
 

cmake/pcl_options.cmake

@@ -109,3 +109,7 @@ option(PCL_DISABLE_GPU_TESTS "Disable running GPU tests. If disabled, tests will
 # Set whether visualizations tests should be run
 # (Used to prevent visualizations tests from executing in CI where visualization is unavailable)
 option(PCL_DISABLE_VISUALIZATION_TESTS "Disable running visualizations tests. If disabled, tests will still be built." OFF)
+
+# This leads to smaller libraries, possibly faster code, and fixes some bugs. See https://gcc.gnu.org/wiki/Visibility
+option(PCL_SYMBOL_VISIBILITY_HIDDEN "Hide all binary symbols by default, export only those explicitly marked (gcc and clang only). Experimental!" ON)
+mark_as_advanced(PCL_SYMBOL_VISIBILITY_HIDDEN)

common/include/pcl/common/intersections.h

@@ -86,7 +86,7 @@ namespace pcl
     * \param[in] angular_tolerance tolerance in radians
     * \return true if succeeded/planes aren't parallel
     */
-  PCL_EXPORTS template <typename Scalar> bool
+  template <typename Scalar> PCL_EXPORTS bool
   planeWithPlaneIntersection (const Eigen::Matrix<Scalar, 4, 1> &plane_a,
                               const Eigen::Matrix<Scalar, 4, 1> &plane_b,
                               Eigen::Matrix<Scalar, Eigen::Dynamic, 1> &line,
@@ -121,7 +121,7 @@ namespace pcl
     * \param[out] intersection_point the three coordinates x, y, z of the intersection point
     * \return true if succeeded/planes aren't parallel
     */
-  PCL_EXPORTS template <typename Scalar> bool
+  template <typename Scalar> PCL_EXPORTS bool
   threePlanesIntersection (const Eigen::Matrix<Scalar, 4, 1> &plane_a,
                            const Eigen::Matrix<Scalar, 4, 1> &plane_b,
                            const Eigen::Matrix<Scalar, 4, 1> &plane_c,

common/include/pcl/exceptions.h

@@ -40,6 +40,7 @@
 #include <stdexcept>
 #include <sstream>
 #include <boost/current_function.hpp>
+#include <pcl/pcl_exports.h> // for PCL_EXPORTS
 
 /** PCL_THROW_EXCEPTION a helper macro to be used for throwing exceptions.
   * This is an example on how to use:
@@ -60,7 +61,7 @@ namespace pcl
     * \brief A base class for all pcl exceptions which inherits from std::runtime_error
     * \author Eitan Marder-Eppstein, Suat Gedikli, Nizar Sallem
     */
-  class PCLException : public std::runtime_error
+  class PCL_EXPORTS PCLException : public std::runtime_error
   {
     public:
 
@@ -132,7 +133,7 @@ namespace pcl
   /** \class InvalidConversionException
     * \brief An exception that is thrown when a PCLPointCloud2 message cannot be converted into a PCL type
     */
-  class InvalidConversionException : public PCLException
+  class PCL_EXPORTS InvalidConversionException : public PCLException
   {
     public:
 
@@ -146,7 +147,7 @@ namespace pcl
   /** \class IsNotDenseException
     * \brief An exception that is thrown when a PointCloud is not dense but is attempted to be used as dense
     */
-  class IsNotDenseException : public PCLException
+  class PCL_EXPORTS IsNotDenseException : public PCLException
   {
     public:
 
@@ -161,7 +162,7 @@ namespace pcl
     * \brief An exception that is thrown when a sample consensus model doesn't
     * have the correct number of samples defined in model_types.h
     */
-  class InvalidSACModelTypeException : public PCLException
+  class PCL_EXPORTS InvalidSACModelTypeException : public PCLException
   {
     public:
 
@@ -175,7 +176,7 @@ namespace pcl
   /** \class IOException
     * \brief An exception that is thrown during an IO error (typical read/write errors)
     */
-  class IOException : public PCLException
+  class PCL_EXPORTS IOException : public PCLException
   {
     public:
 
@@ -190,7 +191,7 @@ namespace pcl
     * \brief An exception thrown when init can not be performed should be used in all the
     * PCLBase class inheritants.
     */
-  class InitFailedException : public PCLException
+  class PCL_EXPORTS InitFailedException : public PCLException
   {
     public:
       InitFailedException (const std::string& error_description = "",
@@ -204,7 +205,7 @@ namespace pcl
     * \brief An exception that is thrown when an organized point cloud is needed
     * but not provided.
     */
-  class UnorganizedPointCloudException : public PCLException
+  class PCL_EXPORTS UnorganizedPointCloudException : public PCLException
   {
     public:
 
@@ -218,7 +219,7 @@ namespace pcl
   /** \class KernelWidthTooSmallException
     * \brief An exception that is thrown when the kernel size is too small
     */
-  class KernelWidthTooSmallException : public PCLException
+  class PCL_EXPORTS KernelWidthTooSmallException : public PCLException
   {
     public:
 
@@ -229,7 +230,7 @@ namespace pcl
       : pcl::PCLException (error_description, file_name, function_name, line_number) { }
   } ;
 
-  class UnhandledPointTypeException : public PCLException
+  class PCL_EXPORTS UnhandledPointTypeException : public PCLException
   {
     public:
     UnhandledPointTypeException (const std::string& error_description,
@@ -239,7 +240,7 @@ namespace pcl
       : pcl::PCLException (error_description, file_name, function_name, line_number) { }
   };
 
-  class ComputeFailedException : public PCLException
+  class PCL_EXPORTS ComputeFailedException : public PCLException
   {
     public:
     ComputeFailedException (const std::string& error_description,
@@ -252,7 +253,7 @@ namespace pcl
   /** \class BadArgumentException
     * \brief An exception that is thrown when the arguments number or type is wrong/unhandled.
     */
-  class BadArgumentException : public PCLException
+  class PCL_EXPORTS BadArgumentException : public PCLException
   {
     public:
     BadArgumentException (const std::string& error_description,

common/include/pcl/pcl_exports.h

@@ -45,5 +45,5 @@
         #define PCL_EXPORTS
     #endif
 #else
-    #define PCL_EXPORTS
+    #define PCL_EXPORTS __attribute__ ((visibility ("default")))
 #endif

common/include/pcl/pcl_macros.h

@@ -323,7 +323,7 @@ pcl_round (float number)
         #define PCL_EXPORTS
     #endif
 #else
-    #define PCL_EXPORTS
+    #define PCL_EXPORTS __attribute__ ((visibility ("default")))
 #endif
 
 #if defined WIN32 || defined _WIN32

filters/src/convolution.cpp

@@ -189,17 +189,5 @@ Convolution<pcl::RGB, pcl::RGB>::convolveOneColDense(int i, int j)
   result.b = static_cast<std::uint8_t>(b);
   return (result);
 }
-
-#ifndef PCL_NO_PRECOMPILE
-#include <pcl/impl/instantiate.hpp>
-#include <pcl/point_types.h>
-
-PCL_INSTANTIATE_PRODUCT(
-    Convolution, ((pcl::RGB))((pcl::RGB)))
-
-PCL_INSTANTIATE_PRODUCT(
-    Convolution, ((pcl::PointXYZRGB))((pcl::PointXYZRGB)))
-#endif // PCL_NO_PRECOMPILE
-
 } // namespace filters
 } // namespace pcl

filters/src/voxel_grid_label.cpp

@@ -37,8 +37,19 @@
  */
 
 #include <map>
+#include <pcl/common/common.h> // for getMinMax3D
 #include <pcl/filters/voxel_grid_label.h>
-#include <pcl/filters/impl/voxel_grid.hpp>
+#include <boost/mpl/size.hpp> // for boost::mpl::size
+
+struct point_index_idx
+{
+  unsigned int idx;
+  unsigned int cloud_point_index;
+
+  point_index_idx() = default;
+  point_index_idx (unsigned int idx_, unsigned int cloud_point_index_) : idx (idx_), cloud_point_index (cloud_point_index_) {}
+  bool operator < (const point_index_idx &p) const { return (idx < p.idx); }
+};
 
 //////////////////////////////////////////////////////////////////////////////
 void
@@ -111,7 +122,7 @@ pcl::VoxelGridLabel::applyFilter (PointCloud &output)
   int label_index = -1;
   label_index = pcl::getFieldIndex<PointXYZRGBL> ("label", fields);
 
-  std::vector<cloud_point_index_idx> index_vector;
+  std::vector<point_index_idx> index_vector;
   index_vector.reserve(input_->size());
 
   // If we don't want to process the entire cloud, but rather filter points far away from the viewpoint first...

registration/include/pcl/registration/transformation_estimation_svd.h

@@ -55,7 +55,7 @@ namespace registration {
  * \ingroup registration
  */
 template <typename PointSource, typename PointTarget, typename Scalar = float>
-class TransformationEstimationSVD
+class PCL_EXPORTS TransformationEstimationSVD
 : public TransformationEstimation<PointSource, PointTarget, Scalar> {
 public:
   using Ptr = shared_ptr<TransformationEstimationSVD<PointSource, PointTarget, Scalar>>;

sample_consensus/include/pcl/sample_consensus/sac_model_plane.h

@@ -139,7 +139,7 @@ namespace pcl
     * \ingroup sample_consensus
     */
   template <typename PointT>
-  class SampleConsensusModelPlane : public SampleConsensusModel<PointT>
+  class PCL_EXPORTS SampleConsensusModelPlane : public SampleConsensusModel<PointT>
   {
     public:
       using SampleConsensusModel<PointT>::model_name_;

sample_consensus/src/sac_model_normal_plane.cpp

@@ -41,10 +41,17 @@
 #ifndef PCL_NO_PRECOMPILE
 #include <pcl/impl/instantiate.hpp>
 #include <pcl/point_types.h>
+
+// used to tell compiler that instantiations of SampleConsensusModelPlane are available from sac_model_plane.cpp
+#define PCL_EXTERN_TEMPLATE_IMPL(r, unused, POINT_TYPE) \
+  extern template class pcl::SampleConsensusModelPlane<POINT_TYPE>;
+
 // Instantiations of specific point types
 #ifdef PCL_ONLY_CORE_POINT_TYPES
+  BOOST_PP_SEQ_FOR_EACH(PCL_EXTERN_TEMPLATE_IMPL, unused, (pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGBA)(pcl::PointXYZRGB)(pcl::PointXYZRGBNormal))
   PCL_INSTANTIATE_PRODUCT(SampleConsensusModelNormalPlane, ((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGBA)(pcl::PointXYZRGB))((pcl::Normal)))
 #else
+ BOOST_PP_SEQ_FOR_EACH(PCL_EXTERN_TEMPLATE_IMPL, unused, PCL_XYZ_POINT_TYPES)
  PCL_INSTANTIATE_PRODUCT(SampleConsensusModelNormalPlane, (PCL_XYZ_POINT_TYPES)(PCL_NORMAL_POINT_TYPES))
 #endif
 #endif    // PCL_NO_PRECOMPILE

segmentation/include/pcl/segmentation/impl/crf_normal_segmentation.hpp

@@ -71,6 +71,6 @@ pcl::CrfNormalSegmentation<PointT>::segmentPoints ()
 {
 }
 
-#define PCL_INSTANTIATE_CrfNormalSegmentation(T) template class pcl::CrfNormalSegmentation<T>;
+#define PCL_INSTANTIATE_CrfNormalSegmentation(T) template class PCL_EXPORTS pcl::CrfNormalSegmentation<T>;
 
 #endif    // PCL_CRF_NORMAL_SEGMENTATION_HPP_

segmentation/include/pcl/segmentation/impl/supervoxel_clustering.hpp

@@ -686,57 +686,11 @@ pcl::SupervoxelClustering<PointT>::getMaxLabel () const
   return max_label;
 }
 
-namespace pcl
-{ 
-  namespace octree
-  {
-    //Explicit overloads for RGB types
-    template<>
-    void
-    pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGB,pcl::SupervoxelClustering<pcl::PointXYZRGB>::VoxelData>::addPoint (const pcl::PointXYZRGB &new_point);
-
-    template<>
-    void
-    pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA,pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData>::addPoint (const pcl::PointXYZRGBA &new_point);
-
-    //Explicit overloads for RGB types
-    template<> void
-    pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGB,pcl::SupervoxelClustering<pcl::PointXYZRGB>::VoxelData>::computeData ();
-
-    template<> void
-    pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA,pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData>::computeData ();
-
-    //Explicit overloads for XYZ types
-    template<>
-    void
-    pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZ,pcl::SupervoxelClustering<pcl::PointXYZ>::VoxelData>::addPoint (const pcl::PointXYZ &new_point);
-
-    template<> void
-    pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZ,pcl::SupervoxelClustering<pcl::PointXYZ>::VoxelData>::computeData ();
-  }
-}
-
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 namespace pcl
-{
-
-  template<> void
-  pcl::SupervoxelClustering<pcl::PointXYZRGB>::VoxelData::getPoint (pcl::PointXYZRGB &point_arg) const;
-
-  template<> void
-  pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData::getPoint (pcl::PointXYZRGBA &point_arg ) const;
-
-  template<typename PointT> void
-  pcl::SupervoxelClustering<PointT>::VoxelData::getPoint (PointT &point_arg ) const
-  {
-    //XYZ is required or this doesn't make much sense...
-    point_arg.x = xyz_[0];
-    point_arg.y = xyz_[1];
-    point_arg.z = xyz_[2];
-  }
-
+{ 
   //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
   template <typename PointT> void
   pcl::SupervoxelClustering<PointT>::VoxelData::getNormal (Normal &normal_arg) const

segmentation/include/pcl/segmentation/supervoxel_clustering.h

@@ -143,11 +143,33 @@ namespace pcl
             owner_ (nullptr)
             {}
 
+#ifdef DOXYGEN_ONLY
           /** \brief Gets the data of in the form of a point
            *  \param[out] point_arg Will contain the point value of the voxeldata
            */
           void
           getPoint (PointT &point_arg) const;
+#else
+          template<typename PointT2 = PointT, traits::HasColor<PointT2> = true> void
+          getPoint (PointT &point_arg) const
+          {
+            point_arg.rgba = static_cast<std::uint32_t>(rgb_[0]) << 16 |
+            static_cast<std::uint32_t>(rgb_[1]) << 8 |
+            static_cast<std::uint32_t>(rgb_[2]);
+            point_arg.x = xyz_[0];
+            point_arg.y = xyz_[1];
+            point_arg.z = xyz_[2];
+          }
+
+          template<typename PointT2 = PointT, traits::HasNoColor<PointT2> = true> void
+          getPoint (PointT &point_arg ) const
+          {
+            //XYZ is required or this doesn't make much sense...
+            point_arg.x = xyz_[0];
+            point_arg.y = xyz_[1];
+            point_arg.z = xyz_[2];
+          }
+#endif
 
           /** \brief Gets the data of in the form of a normal
            *  \param[out] normal_arg Will contain the normal value of the voxeldata