Symbol conflicts with Open3D and PCL

[janjachnik]

There is an open issue in Open3D for this, but I thought I'd ask the question here in case some pybind11 knowledge could help.

Open3D issue: isl-org/Open3D#1428

We seem to be having problems running two pybind11 modules together that use two different versions of the same third-party library.

Scenario

Open3D is written with pybind11 and uses FLANN.

We have a module written using pybind11 that makes use of PCL. PCL uses FLANN internally, but a different version to Open3D.

When we load both Open3D and our pybind11 module into the same python program, we get segmentation faults relating to FLANN when calling PCL functions.

Looking at the backtrace here, you can see that somehow FLANN symbols from libpcl_segmentation.so have jumped to pybind.cpython-38-x86_64-linux-gnu.so.

Any insight or advice on how to solve this problem would be much appreciated.

[janjachnik]

It seems the Open3D devs have made some changes to better hide their symbols: isl-org/Open3D#3542

It's not in a release version yet but building the master branch appears to fix my problem.