Refactored how/when python interpretor is created to simplify library usage

corelib/include/rtabmap/core/PythonInterface.h

@@ -21,16 +21,24 @@ class gil_scoped_release;
 namespace rtabmap {
 
 /**
- * Create a single PythonInterface on main thread at
- * global scope before any Python classes.
+ * Process-wide singleton owning the embedded Python interpreter.
+ * Call PythonInterface::instance() from the main thread (typically near
+ * the top of main()) before any Python-using class is constructed.
  */
 class RTABMAP_CORE_EXPORT PythonInterface
 {
 public:
-	PythonInterface();
-	virtual ~PythonInterface();
+	// Pass a caller tag (e.g. class name) so the main-thread assertion
+	// can report who triggered the first construction.
+	static PythonInterface & instance(const std::string & caller = "");
+
+	PythonInterface(const PythonInterface &) = delete;
+	PythonInterface & operator=(const PythonInterface &) = delete;
 
 private:
+	explicit PythonInterface(const std::string & caller);
+	~PythonInterface();
+
 	pybind11::scoped_interpreter* guard_;
 	pybind11::gil_scoped_release* release_;
 };

corelib/include/rtabmap/core/Rtabmap.h

@@ -50,7 +50,6 @@ class Memory;
 class BayesFilter;
 class Signature;
 class Optimizer;
-class PythonInterface;
 
 class RTABMAP_CORE_EXPORT Rtabmap
 {
@@ -401,11 +400,6 @@ private:
 	Transform _pathTransformToGoal;
 	int _pathStuckCount;
 	float _pathStuckDistance;
-
-#ifdef RTABMAP_PYTHON
-	PythonInterface * _python;
-#endif
-
 };
 
 } // namespace rtabmap

corelib/src/Rtabmap.cpp

@@ -181,10 +181,13 @@ Rtabmap::Rtabmap() :
 	_pathTransformToGoal(Transform::getIdentity()),
 	_pathStuckCount(0),
 	_pathStuckDistance(0.0f)
-#ifdef RTABMAP_PYTHON
-	,_python(new PythonInterface())
-#endif
 {
+#ifdef RTABMAP_PYTHON
+	// Ensure the embedded Python interpreter is up. The first call here will
+	// assert that it runs on the main thread; callers building Rtabmap on a
+	// worker thread should construct the singleton in main() beforehand.
+	PythonInterface::instance("Rtabmap");
+#endif
 }
 
 Rtabmap::~Rtabmap() {

corelib/src/python/PyDescriptor.cpp

@@ -23,6 +23,7 @@ PyDescriptor::PyDescriptor(
 		dim_(Parameters::defaultPyDescriptorDim())
 {
 	UDEBUG("");
+	PythonInterface::instance("PyDescriptor");
 	this->parseParameters(parameters);
 }
 

corelib/src/python/PyDetector.cpp

@@ -24,6 +24,7 @@ PyDetector::PyDetector(const ParametersMap & parameters) :
 		path_(Parameters::defaultPyDetectorPath()),
 		cuda_(Parameters::defaultPyDetectorCuda())
 {
+	PythonInterface::instance("PyDetector");
 	this->parseParameters(parameters);
 
 	UDEBUG("path = %s", path_.c_str());

corelib/src/python/PyMatcher.cpp

@@ -30,6 +30,7 @@ PyMatcher::PyMatcher(
 				iterations_(iterations),
 				cuda_(cuda)
 {
+	PythonInterface::instance("PyMatcher");
 	path_ = uReplaceChar(pythonMatcherPath, '~', UDirectory::homeDir());
 	model_ = uReplaceChar(model, '~', UDirectory::homeDir());
 	UINFO("path = %s", path_.c_str());

corelib/src/python/PythonInterface.cpp

@@ -8,14 +8,39 @@
 #include <rtabmap/core/PythonInterface.h>
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/utilite/UThread.h>
+#include <rtabmap/utilite/UConversion.h>
 #include <pybind11/embed.h>
 #include <filesystem>
+#include <thread>
 
 namespace rtabmap {
 
-PythonInterface::PythonInterface()
+namespace {
+// Captured when librtabmap_core is loaded. The dynamic loader runs static
+// initializers on the main thread before main(), so this records the main
+// thread id (as long as the library isn't dlopen'd from a worker thread).
+const std::thread::id g_mainThreadId = std::this_thread::get_id();
+}
+
+PythonInterface & PythonInterface::instance(const std::string & caller)
 {
-	UINFO("Initialize python interpreter");
+	// Meyers singleton: thread-safe construction in C++11, destroyed at exit.
+	// The constructor asserts it runs on the main thread; the caller tag
+	// from the first invocation is captured into the assertion message.
+	static PythonInterface inst(caller);
+	return inst;
+}
+
+PythonInterface::PythonInterface(const std::string & caller)
+{
+	UASSERT_MSG(std::this_thread::get_id() == g_mainThreadId,
+			uFormat("PythonInterface must be created on the main thread "
+					"(first construction triggered by \"%s\"). Call "
+					"PythonInterface::instance() early in main() before "
+					"any worker thread touches a Python-backed class.",
+					caller.empty()?"<unspecified>":caller.c_str()).c_str());
+	UINFO("Initialize python interpreter (triggered by \"%s\")",
+			caller.empty()?"<unspecified>":caller.c_str());
 	guard_ = new pybind11::scoped_interpreter();
 
 	// Tell Python to look in this directory for DLLs

examples/RGBDMapping/main.cpp

@@ -40,10 +40,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/filters/filter.h>
 #include <rtabmap/core/SensorCaptureThread.h>
 
-#ifdef RTABMAP_PYTHON
-#include "rtabmap/core/PythonInterface.h"
-#endif
-
 #include "MapBuilder.h"
 
 void showUsage()
@@ -77,10 +73,6 @@ int main(int argc, char * argv[])
 	ULogger::setType(ULogger::kTypeConsole);
 	ULogger::setLevel(ULogger::kInfo);
 
-#ifdef RTABMAP_PYTHON
-	PythonInterface python; // Make sure we initialize python in main thread
-#endif
-
 	int driver = 0;
 	if(argc < 2)
 	{

examples/WifiMapping/main.cpp

@@ -36,10 +36,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QApplication>
 #include <stdio.h>
 
-#ifdef RTABMAP_PYTHON
-#include "rtabmap/core/PythonInterface.h"
-#endif
-
 #include "MapBuilderWifi.h"
 
 #include "WifiThread.h"
@@ -61,10 +57,6 @@ int main(int argc, char * argv[])
 	ULogger::setType(ULogger::kTypeConsole);
 	ULogger::setLevel(ULogger::kWarning);
 
-#ifdef RTABMAP_PYTHON
-	PythonInterface python; // Make sure we initialize python in main thread
-#endif
-
 	std::string interfaceName = "wlan0";
 	int driver = 0;
 	bool mirroring = false;

tools/DatabaseViewer/main.cpp

@@ -28,9 +28,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QApplication>
 #include "rtabmap/gui/DatabaseViewer.h"
 #include "rtabmap/utilite/ULogger.h"
-#ifdef RTABMAP_PYTHON
-#include <rtabmap/core/PythonInterface.h>
-#endif
 
 #include <vtkObject.h>
 #include <vtkVersionMacros.h>
@@ -53,10 +50,6 @@ int main(int argc, char * argv[])
     QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());
 #endif
 
-#ifdef RTABMAP_PYTHON
-	rtabmap::PythonInterface pythonInterface;
-#endif
-
 	QApplication * app = new QApplication(argc, argv);
 	rtabmap::DatabaseViewer * mainWindow = new rtabmap::DatabaseViewer();
 

tools/Matcher/main.cpp

@@ -42,9 +42,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/utilite/UStl.h>
 #include <rtabmap/utilite/UTimer.h>
-#ifdef RTABMAP_PYTHON
-#include <rtabmap/core/PythonInterface.h>
-#endif
 #include <fstream>
 #include <string>
 #include <QApplication>
@@ -186,10 +183,6 @@ int main(int argc, char * argv[])
 		printf("  --raw (images will be rectified)\n");
 	}
 
-#ifdef RTABMAP_PYTHON
-	rtabmap::PythonInterface pythonInterface;
-#endif
-
 	ParametersMap parameters = Parameters::parseArguments(argc, argv);
 	parameters.insert(ParametersPair(Parameters::kRegRepeatOnce(), "false"));
 

tools/ReduceGraph/main.cpp

@@ -37,9 +37,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/utilite/UStl.h>
-#ifdef RTABMAP_PYTHON
-#include <rtabmap/core/PythonInterface.h>
-#endif
 #include <pcl/filters/filter.h>
 #include <pcl/io/ply_io.h>
 #include <pcl/io/obj_io.h>
@@ -119,10 +116,6 @@ int main(int argc, char * argv[])
 	printf("  keep_linked = %s\n", keepLinked?"true":"false");
 	printf("  pre_cleanup = %s\n", preCleanup?"true":"false");
 
-#ifdef RTABMAP_PYTHON
-	rtabmap::PythonInterface pythonInterface;
-#endif
-	
 	// Just parse logging options
 	Parameters::parseArguments(argc, argv);