fix serialization linking error

gtsam/base/DerivedValue.h

@@ -8,8 +8,6 @@
 #pragma once
 
 #include <boost/pool/singleton_pool.hpp>
-#include <boost/serialization/serialization.hpp>
-#include <boost/serialization/export.hpp>
 #include <gtsam/base/Value.h>
 
 namespace gtsam {
@@ -21,16 +19,7 @@ private:
 	struct PoolTag { };
 
 protected:
-	DerivedValue() {
+	DerivedValue() {}
-  	// Register the base/derived class relationship for boost::serialization
-		// See: http://www.boost.org/doc/libs/1_45_0/libs/serialization/doc/serialization.html#runtimecasting
-		static bool first = true;
-		if (first) {
-			boost::serialization::void_cast_register<DERIVED, Value>(
-					static_cast<DERIVED *>(NULL), static_cast<Value *>(NULL) );
-			first = false;
-		}
-	}
 
 public:
 

gtsam/base/Value.h

@@ -143,12 +143,19 @@ namespace gtsam {
     virtual ~Value() {}
 
   private:
-  	/** Serialization function */
+  	/** Serialization function
+  	 * All DERIVED classes derived from Value must put the following line in their serialization function:
+  	 * 		ar & boost::serialization::make_nvp("DERIVED", boost::serialization::base_object<Value>(*this));
+  	 * Alternatively, if the derived class is template-based, for example PinholeCamera<Calibration>,
+  	 * it can put the following code in its serialization function
+  	 *    ar & boost::serialization::void_cast_register<PinholeCamera<Calibration>, Value>(
+     * 	            static_cast<PinholeCamera<Calibration> *>(NULL),
+     * 	            static_cast<Value *>(NULL));
+  	 * See more: http://www.boost.org/doc/libs/1_45_0/libs/serialization/doc/serialization.html#runtimecasting
+  	 * */
   	friend class boost::serialization::access;
   	template<class ARCHIVE>
-  	void serialize(ARCHIVE & ar, const unsigned int version) {
+  	void serialize(ARCHIVE & ar, const unsigned int version) {}
-  		std::cout << "value serialization" << std::endl;
-  	}
 
   };
 

gtsam/geometry/Cal3Bundler.h

@@ -111,6 +111,8 @@ private:
 	template<class Archive>
 	void serialize(Archive & ar, const unsigned int version)
 	{
+		ar & boost::serialization::make_nvp("Cal3Bundler",
+				boost::serialization::base_object<Value>(*this));
 		ar & BOOST_SERIALIZATION_NVP(f_);
 		ar & BOOST_SERIALIZATION_NVP(k1_);
 		ar & BOOST_SERIALIZATION_NVP(k2_);

gtsam/geometry/Cal3DS2.h

@@ -114,6 +114,8 @@ private:
 	template<class Archive>
 	void serialize(Archive & ar, const unsigned int version)
 	{
+		ar & boost::serialization::make_nvp("Cal3DS2",
+				boost::serialization::base_object<Value>(*this));
 		ar & BOOST_SERIALIZATION_NVP(fx_);
 		ar & BOOST_SERIALIZATION_NVP(fy_);
 		ar & BOOST_SERIALIZATION_NVP(s_);

gtsam/geometry/Cal3_S2.h

@@ -174,6 +174,8 @@ namespace gtsam {
 		friend class boost::serialization::access;
 		template<class Archive>
 		void serialize(Archive & ar, const unsigned int version) {
+			ar & boost::serialization::make_nvp("Cal3_S2",
+					boost::serialization::base_object<Value>(*this));
 			ar & BOOST_SERIALIZATION_NVP(fx_);
 			ar & BOOST_SERIALIZATION_NVP(fy_);
 			ar & BOOST_SERIALIZATION_NVP(s_);

gtsam/geometry/Cal3_S2Stereo.h

@@ -81,6 +81,8 @@ namespace gtsam {
 		template<class Archive>
 		void serialize(Archive & ar, const unsigned int version)
 		{
+			ar & boost::serialization::make_nvp("Cal3_S2Stereo",
+					boost::serialization::base_object<Value>(*this));
 			ar & BOOST_SERIALIZATION_NVP(b_);
 			ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Cal3_S2);
 		}

gtsam/geometry/CalibratedCamera.h

@@ -157,6 +157,8 @@ private:
 	    friend class boost::serialization::access;
 	    template<class Archive>
 	    void serialize(Archive & ar, const unsigned int version) {
+	  		ar & boost::serialization::make_nvp("CalibratedCamera",
+	  				boost::serialization::base_object<Value>(*this));
 	      ar & BOOST_SERIALIZATION_NVP(pose_);
 	    }
 

gtsam/geometry/PinholeCamera.h

@@ -279,6 +279,9 @@ private:
       friend class boost::serialization::access;
       template<class Archive>
       void serialize(Archive & ar, const unsigned int version) {
+      	ar & boost::serialization::void_cast_register<PinholeCamera<Calibration>, Value>(
+      	            static_cast<PinholeCamera<Calibration> *>(NULL),
+      	            static_cast<Value *>(NULL));
         ar & BOOST_SERIALIZATION_NVP(pose_);
         ar & BOOST_SERIALIZATION_NVP(k_);
       }

gtsam/geometry/Point2.h

@@ -189,6 +189,8 @@ private:
 	template<class ARCHIVE>
 	void serialize(ARCHIVE & ar, const unsigned int version)
 	{
+		ar & boost::serialization::make_nvp("Point2",
+ 			 boost::serialization::base_object<Value>(*this));
 		ar & BOOST_SERIALIZATION_NVP(x_);
 		ar & BOOST_SERIALIZATION_NVP(y_);
 	}

gtsam/geometry/Point3.h

@@ -204,6 +204,8 @@ namespace gtsam {
     template<class ARCHIVE>
       void serialize(ARCHIVE & ar, const unsigned int version)
     {
+    	ar & boost::serialization::make_nvp("Point3",
+   			 boost::serialization::base_object<Value>(*this));
       ar & BOOST_SERIALIZATION_NVP(x_);
       ar & BOOST_SERIALIZATION_NVP(y_);
       ar & BOOST_SERIALIZATION_NVP(z_);

gtsam/geometry/Pose2.h

@@ -269,6 +269,8 @@ private:
 	friend class boost::serialization::access;
 	template<class Archive>
 	void serialize(Archive & ar, const unsigned int version) {
+		ar & boost::serialization::make_nvp("Pose2",
+ 			 boost::serialization::base_object<Value>(*this));
 		ar & BOOST_SERIALIZATION_NVP(t_);
 		ar & BOOST_SERIALIZATION_NVP(r_);
 	}

gtsam/geometry/Pose3.h

@@ -233,6 +233,8 @@ namespace gtsam {
     friend class boost::serialization::access;
     template<class Archive>
     void serialize(Archive & ar, const unsigned int version) {
+    	ar & boost::serialization::make_nvp("Pose3",
+    	 			 boost::serialization::base_object<Value>(*this));
       ar & BOOST_SERIALIZATION_NVP(R_);
       ar & BOOST_SERIALIZATION_NVP(t_);
     }

gtsam/geometry/Rot2.h

@@ -239,6 +239,8 @@ namespace gtsam {
 		friend class boost::serialization::access;
 		template<class ARCHIVE>
 		void serialize(ARCHIVE & ar, const unsigned int version) {
+			ar & boost::serialization::make_nvp("Rot2",
+					boost::serialization::base_object<Value>(*this));
 			ar & BOOST_SERIALIZATION_NVP(c_);
 			ar & BOOST_SERIALIZATION_NVP(s_);
 		}

gtsam/geometry/Rot3.h

@@ -362,6 +362,8 @@ namespace gtsam {
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int version)
     {
+    	 ar & boost::serialization::make_nvp("Rot3",
+    			 boost::serialization::base_object<Value>(*this));
 #ifndef GTSAM_DEFAULT_QUATERNIONS
       ar & BOOST_SERIALIZATION_NVP(r1_);
       ar & BOOST_SERIALIZATION_NVP(r2_);

gtsam/geometry/StereoPoint2.h

@@ -148,6 +148,8 @@ namespace gtsam {
 		friend class boost::serialization::access;
 		template<class ARCHIVE>
 		void serialize(ARCHIVE & ar, const unsigned int version) {
+			ar & boost::serialization::make_nvp("StereoPoint2",
+					boost::serialization::base_object<Value>(*this));
 			ar & BOOST_SERIALIZATION_NVP(uL_);
 			ar & BOOST_SERIALIZATION_NVP(uR_);
 			ar & BOOST_SERIALIZATION_NVP(v_);