Merge branch 'hash' into 'master'

TBB deprecation and other fixes

Closes #8

See merge request basalt/basalt!40

CMakeLists.txt

@@ -209,6 +209,11 @@ endif()
 
 find_package(TBB REQUIRED)
 include_directories(${TBB_INCLUDE_DIR})
+message(STATUS "TBB_INTERFACE_VERSION: ${TBB_INTERFACE_VERSION}")
+if (TBB_INTERFACE_VERSION LESS 11004)
+  # enable global_control header for earlier TBB versions (Ubuntu 16.04, 18.04)
+  add_definitions(-DTBB_PREVIEW_GLOBAL_CONTROL)
+endif()
 
 find_package(OpenCV REQUIRED core imgproc calib3d highgui)
 include_directories(${OpenCV_INCLUDE_DIR})

cmake_modules/FindTBB.cmake

@@ -44,7 +44,7 @@
 # TBB_INSTALL_DIR or $ENV{TBB21_INSTALL_DIR} or $ENV{TBB_INSTALL_DIR}
 
 # This module defines
-# TBB_INCLUDE_DIRS, where to find task_scheduler_init.h, etc.
+# TBB_INCLUDE_DIRS, where to find tbb_stddef.h, etc.
 # TBB_LIBRARY_DIRS, where to find libtbb, libtbbmalloc
 # TBB_DEBUG_LIBRARY_DIRS, where to find libtbb_debug, libtbbmalloc_debug
 # TBB_INSTALL_DIR, the base TBB install directory
@@ -184,7 +184,7 @@ set (TBB_INC_SEARCH_DIR ${_TBB_INSTALL_DIR}/include)
 # Jiri: tbbvars now sets the CPATH environment variable to the directory
 #       containing the headers.
 find_path(TBB_INCLUDE_DIR
-    tbb/task_scheduler_init.h
+    tbb/tbb_stddef.h
     PATHS ${TBB_INC_SEARCH_DIR} ENV CPATH
 )
 mark_as_advanced(TBB_INCLUDE_DIR)

include/basalt/calibration/calibration_helper.h

@@ -40,7 +40,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <basalt/calibration/calibration.hpp>
 
 #include <tbb/concurrent_unordered_map.h>
-#include <tbb/tbb.h>
 
 namespace basalt {
 

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);

include/basalt/optical_flow/frame_to_frame_optical_flow.h

@@ -49,8 +49,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <basalt/image/image_pyr.h>
 #include <basalt/utils/keypoints.h>
 
-#include <tbb/parallel_for.h>
-
 namespace basalt {
 
 template <typename Scalar, template <typename> typename Pattern>

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;

include/basalt/optimization/linearize.h

@@ -40,8 +40,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <basalt/calibration/calibration.hpp>
 #include <basalt/camera/stereographic_param.hpp>
 
-#include <tbb/tbb.h>
-
 namespace basalt {
 
 template <typename Scalar>

include/basalt/optimization/poses_linearize.h

@@ -43,7 +43,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <basalt/optimization/accumulator.h>
 
-#include <tbb/tbb.h>
+#include <tbb/blocked_range.h>
 
 namespace basalt {
 

include/basalt/optimization/poses_optimize.h

@@ -38,6 +38,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <basalt/calibration/calibration_helper.h>
 #include <basalt/optimization/poses_linearize.h>
 
+#include <tbb/parallel_reduce.h>
+
 namespace basalt {
 
 class PosesOptimization {
@@ -308,7 +310,6 @@ class PosesOptimization {
   Eigen::aligned_vector<AprilgridCornersData> aprilgrid_corners_measurements;
 
   Eigen::aligned_vector<Eigen::Vector4d> aprilgrid_corner_pos_3d;
-
+};
-};  // namespace basalt
 
 }  // namespace basalt

include/basalt/optimization/spline_linearize.h

@@ -44,7 +44,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <basalt/utils/test_utils.h>
 
-#include <tbb/tbb.h>
+#include <tbb/blocked_range.h>
+#include <tbb/tbb_stddef.h>
 
 namespace basalt {
 

include/basalt/optimization/spline_optimize.h

@@ -45,6 +45,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <basalt/serialization/headers_serialization.h>
 
+#include <tbb/parallel_reduce.h>
+
 #include <chrono>
 
 namespace basalt {

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));
+    basalt::hash_combine(seed, x.frame_id);
-    hash_combine(seed, std::hash<int>()(x.cam_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));
+    basalt::hash_combine(seed, x.first.frame_id);
-    hash_combine(seed, std::hash<int>()(x.first.cam_id));
+    basalt::hash_combine(seed, x.first.cam_id);
-    hash_combine(seed, std::hash<int>()(x.second.frame_id));
+    basalt::hash_combine(seed, x.second.frame_id);
-    hash_combine(seed, std::hash<int>()(x.second.cam_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

src/calibrate.cpp

@@ -35,14 +35,9 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <basalt/calibration/cam_calib.h>
 
-#include <tbb/tbb.h>
-
 #include <CLI/CLI.hpp>
 
 int main(int argc, char **argv) {
-  tbb::task_scheduler_init init(
-      tbb::task_scheduler_init::default_num_threads());
-
   std::string dataset_path;
   std::string dataset_type;
   std::string aprilgrid_path;

src/calibrate_imu.cpp

@@ -37,14 +37,9 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <basalt/calibration/cam_imu_calib.h>
 
-#include <tbb/tbb.h>
-
 #include <CLI/CLI.hpp>
 
 int main(int argc, char **argv) {
-  tbb::task_scheduler_init init(
-      tbb::task_scheduler_init::default_num_threads());
-
   std::string dataset_path;
   std::string dataset_type;
   std::string aprilgrid_path;

src/calibration/calibraiton_helper.cpp

@@ -37,6 +37,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <basalt/utils/apriltag.h>
 
+#include <tbb/parallel_for.h>
+
 #include <opengv/absolute_pose/CentralAbsoluteAdapter.hpp>
 #include <opengv/absolute_pose/methods.hpp>
 

src/mapper.cpp

@@ -41,7 +41,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <sophus/se3.hpp>
 
 #include <tbb/concurrent_unordered_map.h>
-#include <tbb/tbb.h>
 
 #include <pangolin/display/image_view.h>
 #include <pangolin/gl/gldraw.h>

src/mapper_sim.cpp

@@ -41,7 +41,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <sophus/se3.hpp>
 
 #include <tbb/concurrent_unordered_map.h>
-#include <tbb/tbb.h>
 
 #include <pangolin/display/image_view.h>
 #include <pangolin/gl/gldraw.h>

src/mapper_sim_naive.cpp

@@ -41,7 +41,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <sophus/se3.hpp>
 
 #include <tbb/concurrent_unordered_map.h>
-#include <tbb/tbb.h>
 
 #include <pangolin/display/image_view.h>
 #include <pangolin/gl/gldraw.h>

src/opt_flow.cpp

@@ -41,7 +41,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <sophus/se3.hpp>
 
 #include <tbb/concurrent_unordered_map.h>
-#include <tbb/tbb.h>
 
 #include <pangolin/display/image_view.h>
 #include <pangolin/gl/gldraw.h>

src/rs_t265_vio.cpp

@@ -42,8 +42,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <sophus/se3.hpp>
 
-#include <tbb/concurrent_unordered_map.h>
+#include <tbb/concurrent_queue.h>
-#include <tbb/tbb.h>
+#include <tbb/global_control.h>
 
 #include <pangolin/display/image_view.h>
 #include <pangolin/gl/gldraw.h>
@@ -137,8 +137,11 @@ int main(int argc, char** argv) {
   app.add_option("--num-threads", num_threads, "Number of threads.");
   app.add_option("--step-by-step", step_by_step, "Path to config file.");
 
+  // global thread limit is in effect until global_control object is destroyed
+  std::unique_ptr<tbb::global_control> tbb_global_control;
   if (num_threads > 0) {
-    tbb::task_scheduler_init init(num_threads);
+    tbb_global_control = std::make_unique<tbb::global_control>(
+        tbb::global_control::max_allowed_parallelism, num_threads);
   }
 
   try {

src/time_alignment.cpp

@@ -45,8 +45,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <basalt/utils/filesystem.h>
 #include <basalt/calibration/calibration.hpp>
 
-#include <tbb/tbb.h>
-
 #include <CLI/CLI.hpp>
 
 basalt::Calibration<double> calib;
@@ -86,9 +84,6 @@ double compute_error(
 }
 
 int main(int argc, char **argv) {
-  tbb::task_scheduler_init init(
-      tbb::task_scheduler_init::default_num_threads());
-
   std::string dataset_path;
   std::string calibration_path;
   std::string mocap_calibration_path;

src/vio.cpp

@@ -42,7 +42,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <sophus/se3.hpp>
 
 #include <tbb/concurrent_unordered_map.h>
-#include <tbb/tbb.h>
+#include <tbb/global_control.h>
 
 #include <pangolin/display/image_view.h>
 #include <pangolin/gl/gldraw.h>
@@ -222,8 +222,11 @@ int main(int argc, char** argv) {
                  "Save trajectory. Supported formats <tum, euroc, kitti>");
   app.add_option("--use-imu", use_imu, "Use IMU.");
 
+  // global thread limit is in effect until global_control object is destroyed
+  std::unique_ptr<tbb::global_control> tbb_global_control;
   if (num_threads > 0) {
-    tbb::task_scheduler_init init(num_threads);
+    tbb_global_control = std::make_unique<tbb::global_control>(
+        tbb::global_control::max_allowed_parallelism, num_threads);
   }
 
   try {

src/vio_sim.cpp

@@ -41,7 +41,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <sophus/se3.hpp>
 
 #include <tbb/concurrent_unordered_map.h>
-#include <tbb/tbb.h>
 
 #include <pangolin/display/image_view.h>
 #include <pangolin/gl/gldraw.h>

test/src/test_spline_opt.cpp

@@ -1,5 +1,4 @@
 
-
 #include <basalt/optimization/spline_optimize.h>
 
 #include <iostream>
@@ -8,9 +7,6 @@
 #include "test_utils.h"
 
 TEST(SplineOpt, SplineOptTest) {
-  tbb::task_scheduler_init init(
-      tbb::task_scheduler_init::default_num_threads());
-
   int num_knots = 15;
 
   basalt::CalibAccelBias<double> accel_bias_full;

thirdparty/basalt-headers

@@ -1 +1 @@
-Subproject commit b068d7a967af52fb3c8e261829b16a2403845ef8
+Subproject commit d6a1bc24376a67b11bd13e44cf75c1e4351f359a