From 5de179de48bdee4da10b8afe9510fccba7404f78 Mon Sep 17 00:00:00 2001
From: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
Date: Tue, 23 Jun 2020 16:59:15 +0200
Subject: [PATCH] hash_combine moved to headers and tbb_hash left-overs

---
 include/basalt/hash_bow/hash_bow.h        |  2 +-
 include/basalt/optimization/accumulator.h |  7 ++---
 include/basalt/utils/common_types.h       | 31 ++++++++---------------
 thirdparty/basalt-headers                 |  2 +-
 4 files changed, 14 insertions(+), 28 deletions(-)

diff --git a/include/basalt/hash_bow/hash_bow.h b/include/basalt/hash_bow/hash_bow.h
index f2faab3..c034edd 100644
--- a/include/basalt/hash_bow/hash_bow.h
+++ b/include/basalt/hash_bow/hash_bow.h
@@ -72,7 +72,7 @@ class HashBow {
       const int64_t* max_t_ns = nullptr) const {
     results.clear();
 
-    std::unordered_map<TimeCamId, double, tbb::tbb_hash<TimeCamId>> scores;
+    std::unordered_map<TimeCamId, double> scores;
 
     for (const auto& kv : bow_vector) {
       const auto range_it = inverted_index.find(kv.first);
diff --git a/include/basalt/optimization/accumulator.h b/include/basalt/optimization/accumulator.h
index 420cc66..94d90b6 100644
--- a/include/basalt/optimization/accumulator.h
+++ b/include/basalt/optimization/accumulator.h
@@ -43,6 +43,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <unordered_map>
 
 #include <basalt/utils/assert.h>
+#include <basalt/utils/hash.h>
 
 #if defined(BASALT_USE_CHOLMOD)
 
@@ -256,14 +257,10 @@ class SparseHashAccumulator {
     inline size_t operator()(const KeyT& c) const {
       size_t seed = 0;
       for (int i = 0; i < 4; i++) {
-        hash_combine(seed, std::hash<int>()(c[i]));
+        hash_combine(seed, c[i]);
       }
       return seed;
     }
-
-    inline void hash_combine(std::size_t& seed, std::size_t value) const {
-      seed ^= value + 0x9e3779b9 + (seed << 6) + (seed >> 2);
-    }
   };
 
   std::unordered_map<KeyT, MatrixX, KeyHash> hash_map;
diff --git a/include/basalt/utils/common_types.h b/include/basalt/utils/common_types.h
index cc0c07e..48678c0 100644
--- a/include/basalt/utils/common_types.h
+++ b/include/basalt/utils/common_types.h
@@ -44,6 +44,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <Eigen/StdVector>
 #include <sophus/se3.hpp>
 
+#include <basalt/utils/hash.h>
 #include <basalt/utils/sophus_utils.hpp>
 
 namespace basalt {
@@ -268,6 +269,7 @@ using ImageProjections = std::map<TimeCamId, ImageProjection>;
 /// inlier projections indexed per track
 using TrackProjections =
     std::unordered_map<TrackId, std::map<TimeCamId, ProjectedLandmarkConstPtr>>;
+
 }  // namespace basalt
 
 namespace cereal {
@@ -286,20 +288,17 @@ template <class Archive>
 void serialize(Archive& ar, basalt::MatchData& c) {
   ar(c.T_i_j, c.matches, c.inliers);
 }
+
 }  // namespace cereal
 
 namespace std {
 
-inline void hash_combine(std::size_t& seed, std::size_t value) {
-  seed ^= value + 0x9e3779b9 + (seed << 6) + (seed >> 2);
-}
-
 template <>
 struct hash<basalt::TimeCamId> {
   size_t operator()(const basalt::TimeCamId& x) const {
     size_t seed = 0;
-    hash_combine(seed, std::hash<int>()(x.frame_id));
-    hash_combine(seed, std::hash<int>()(x.cam_id));
+    basalt::hash_combine(seed, x.frame_id);
+    basalt::hash_combine(seed, x.cam_id);
     return seed;
   }
 };
@@ -309,22 +308,12 @@ struct hash<std::pair<basalt::TimeCamId, basalt::TimeCamId>> {
   size_t operator()(
       const std::pair<basalt::TimeCamId, basalt::TimeCamId>& x) const {
     size_t seed = 0;
-    hash_combine(seed, std::hash<int>()(x.first.frame_id));
-    hash_combine(seed, std::hash<int>()(x.first.cam_id));
-    hash_combine(seed, std::hash<int>()(x.second.frame_id));
-    hash_combine(seed, std::hash<int>()(x.second.cam_id));
+    basalt::hash_combine(seed, x.first.frame_id);
+    basalt::hash_combine(seed, x.first.cam_id);
+    basalt::hash_combine(seed, x.second.frame_id);
+    basalt::hash_combine(seed, x.second.cam_id);
     return seed;
   }
 };
+
 }  // namespace std
-
-namespace tbb {
-
-template <>
-struct tbb_hash<basalt::TimeCamId> : public std::hash<basalt::TimeCamId> {};
-
-template <>
-struct tbb_hash<std::pair<basalt::TimeCamId, basalt::TimeCamId>>
-    : public std::hash<std::pair<basalt::TimeCamId, basalt::TimeCamId>> {};
-
-}  // namespace tbb
diff --git a/thirdparty/basalt-headers b/thirdparty/basalt-headers
index b068d7a..d6a1bc2 160000
--- a/thirdparty/basalt-headers
+++ b/thirdparty/basalt-headers
@@ -1 +1 @@
-Subproject commit b068d7a967af52fb3c8e261829b16a2403845ef8
+Subproject commit d6a1bc24376a67b11bd13e44cf75c1e4351f359a