Merge branch 'python_singleton' of github.com:introlab/rtabmap into gtest

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
@@ -1040,11 +1039,6 @@ private:
 	Transform _pathTransformToGoal;
 	int _pathStuckCount;
 	float _pathStuckDistance;
-
-#ifdef RTABMAP_PYTHON
-	PythonInterface * _python;
-#endif
-
 };
 
 } // namespace rtabmap