From 38425f1164c41d67821227261549701a9df2de5f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 17 Feb 2022 10:44:28 -0500
Subject: [PATCH] fixed dllexport issues in slam, only tests failing

---
 gtsam/slam/FrobeniusFactor.h           |  6 +++---
 gtsam/slam/OrientedPlane3Factor.h      |  4 ++--
 gtsam/slam/SmartProjectionPoseFactor.h |  2 +-
 gtsam/slam/dataset.cpp                 | 22 ++++++++++++++--------
 4 files changed, 20 insertions(+), 14 deletions(-)

diff --git a/gtsam/slam/FrobeniusFactor.h b/gtsam/slam/FrobeniusFactor.h
index 4a60c8ba0..05e23ce6d 100644
--- a/gtsam/slam/FrobeniusFactor.h
+++ b/gtsam/slam/FrobeniusFactor.h
@@ -48,7 +48,7 @@ ConvertNoiseModel(const SharedNoiseModel &model, size_t n,
  * element of SO(3) or SO(4).
  */
 template <class Rot>
-class GTSAM_EXPORT FrobeniusPrior : public NoiseModelFactor1<Rot> {
+class FrobeniusPrior : public NoiseModelFactor1<Rot> {
   enum { Dim = Rot::VectorN2::RowsAtCompileTime };
   using MatrixNN = typename Rot::MatrixNN;
   Eigen::Matrix<double, Dim, 1> vecM_;  ///< vectorized matrix to approximate
@@ -75,7 +75,7 @@ class GTSAM_EXPORT FrobeniusPrior : public NoiseModelFactor1<Rot> {
  * The template argument can be any fixed-size SO<N>.
  */
 template <class Rot>
-class GTSAM_EXPORT FrobeniusFactor : public NoiseModelFactor2<Rot, Rot> {
+class FrobeniusFactor : public NoiseModelFactor2<Rot, Rot> {
   enum { Dim = Rot::VectorN2::RowsAtCompileTime };
 
  public:
@@ -101,7 +101,7 @@ class GTSAM_EXPORT FrobeniusFactor : public NoiseModelFactor2<Rot, Rot> {
  * and in fact only SO3 and SO4 really work, as we need SO<N>::AdjointMap.
  */
 template <class Rot>
-class GTSAM_EXPORT FrobeniusBetweenFactor : public NoiseModelFactor2<Rot, Rot> {
+class FrobeniusBetweenFactor : public NoiseModelFactor2<Rot, Rot> {
   Rot R12_;  ///< measured rotation between R1 and R2
   Eigen::Matrix<double, Rot::dimension, Rot::dimension>
       R2hat_H_R1_;  ///< fixed derivative of R2hat wrpt R1
diff --git a/gtsam/slam/OrientedPlane3Factor.h b/gtsam/slam/OrientedPlane3Factor.h
index d7b836dec..81bb790de 100644
--- a/gtsam/slam/OrientedPlane3Factor.h
+++ b/gtsam/slam/OrientedPlane3Factor.h
@@ -15,7 +15,7 @@ namespace gtsam {
 /**
  * Factor to measure a planar landmark from a given pose
  */
-class OrientedPlane3Factor: public NoiseModelFactor2<Pose3, OrientedPlane3> {
+class GTSAM_EXPORT OrientedPlane3Factor: public NoiseModelFactor2<Pose3, OrientedPlane3> {
  protected:
   OrientedPlane3 measured_p_;
   typedef NoiseModelFactor2<Pose3, OrientedPlane3> Base;
@@ -49,7 +49,7 @@ class OrientedPlane3Factor: public NoiseModelFactor2<Pose3, OrientedPlane3> {
 };
 
 // TODO: Convert this factor to dimension two, three dimensions is redundant for direction prior
-class OrientedPlane3DirectionPrior : public NoiseModelFactor1<OrientedPlane3> {
+class GTSAM_EXPORT OrientedPlane3DirectionPrior : public NoiseModelFactor1<OrientedPlane3> {
  protected:
   OrientedPlane3 measured_p_;  /// measured plane parameters
   typedef NoiseModelFactor1<OrientedPlane3> Base;
diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h
index 3cd69c46f..f4c0c73aa 100644
--- a/gtsam/slam/SmartProjectionPoseFactor.h
+++ b/gtsam/slam/SmartProjectionPoseFactor.h
@@ -42,7 +42,7 @@ namespace gtsam {
  * @addtogroup SLAM
  */
 template <class CALIBRATION>
-class GTSAM_EXPORT SmartProjectionPoseFactor
+class SmartProjectionPoseFactor
     : public SmartProjectionFactor<PinholePose<CALIBRATION> > {
  private:
   typedef PinholePose<CALIBRATION> Camera;
diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp
index 0b352900f..6c8e43108 100644
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
@@ -177,8 +177,9 @@ boost::optional<IndexedPose> parseVertexPose(istream &is, const string &tag) {
 }
 
 template <>
-std::map<size_t, Pose2> parseVariables<Pose2>(const std::string &filename,
-                                              size_t maxIndex) {
+GTSAM_EXPORT std::map<size_t, Pose2> parseVariables<Pose2>(const std::string &filename,
+                                                           size_t maxIndex)
+{
   return parseToMap<Pose2>(filename, parseVertexPose, maxIndex);
 }
 
@@ -199,8 +200,9 @@ boost::optional<IndexedLandmark> parseVertexLandmark(istream &is,
 }
 
 template <>
-std::map<size_t, Point2> parseVariables<Point2>(const std::string &filename,
-                                                size_t maxIndex) {
+GTSAM_EXPORT std::map<size_t, Point2> parseVariables<Point2>(const std::string &filename,
+                                                             size_t maxIndex)
+{
   return parseToMap<Point2>(filename, parseVertexLandmark, maxIndex);
 }
 
@@ -428,6 +430,7 @@ parseMeasurements(const std::string &filename,
 /* ************************************************************************* */
 // Implementation of parseFactors for Pose2
 template <>
+GTSAM_EXPORT
 std::vector<BetweenFactor<Pose2>::shared_ptr>
 parseFactors<Pose2>(const std::string &filename,
                     const noiseModel::Diagonal::shared_ptr &model,
@@ -777,8 +780,9 @@ boost::optional<pair<size_t, Pose3>> parseVertexPose3(istream &is,
 }
 
 template <>
-std::map<size_t, Pose3> parseVariables<Pose3>(const std::string &filename,
-                                              size_t maxIndex) {
+GTSAM_EXPORT std::map<size_t, Pose3> parseVariables<Pose3>(const std::string &filename,
+                                                           size_t maxIndex)
+{
   return parseToMap<Pose3>(filename, parseVertexPose3, maxIndex);
 }
 
@@ -795,8 +799,9 @@ boost::optional<pair<size_t, Point3>> parseVertexPoint3(istream &is,
 }
 
 template <>
-std::map<size_t, Point3> parseVariables<Point3>(const std::string &filename,
-                                                size_t maxIndex) {
+GTSAM_EXPORT std::map<size_t, Point3> parseVariables<Point3>(const std::string &filename,
+                                                             size_t maxIndex)
+{
   return parseToMap<Point3>(filename, parseVertexPoint3, maxIndex);
 }
 
@@ -914,6 +919,7 @@ parseMeasurements(const std::string &filename,
 /* ************************************************************************* */
 // Implementation of parseFactors for Pose3
 template <>
+GTSAM_EXPORT
 std::vector<BetweenFactor<Pose3>::shared_ptr>
 parseFactors<Pose3>(const std::string &filename,
                     const noiseModel::Diagonal::shared_ptr &model,