Added CMake code and preprocessor macros so that everything works without TBB and falls back on single-threading
Richard Roberts
parent
69e4a3fd94
commit
68c6bf4a38
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@ -60,6 +60,7 @@ endif()
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option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." OFF)
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option(GTSAM_ROT3_EXPMAP "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." OFF)
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option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF)
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option(GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TBB) if available" ON)
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# Options relating to MATLAB wrapper
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# TODO: Check for matlab mex binary before handling building of binaries
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@ -135,6 +136,27 @@ else()
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endif()
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###############################################################################
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# Find TBB
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find_package(TBB)
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# Set up variables if we're using TBB
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if(TBB_FOUND AND GTSAM_WITH_TBB)
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set(GTSAM_USE_TBB 1) # This will go into config.h
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set(GTSAM_TBB_LIBRARIES "")
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if(TBB_DEBUG_LIBRARIES)
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foreach(lib ${TBB_LIBRARIES})
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list(APPEND GTSAM_TBB_LIBRARIES optimized "${lib}")
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endforeach()
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foreach(lib ${TBB_DEBUG_LIBRARIES})
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list(APPEND GTSAM_TBB_LIBRARIES debug "${lib}")
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endforeach()
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else()
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set(GTSAM_TBB_LIBRARIES ${TBB_LIBRARIES})
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endif()
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endif()
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###############################################################################
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# Option for using system Eigen or GTSAM-bundled Eigen
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option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
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@ -163,26 +185,6 @@ configure_file(gtsam/3rdparty/gtsam_eigen_includes.h.in gtsam/3rdparty/gtsam_eig
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install(FILES ${CMAKE_BINARY_DIR}/gtsam/3rdparty/gtsam_eigen_includes.h DESTINATION include/gtsam/3rdparty)
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###############################################################################
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# Find TBB
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set(ENV{TBB_ARCH_PLATFORM} "intel64/vc11")
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set(ENV{TBB_BIN_DIR} "C:/Program Files/Intel/TBB/bin")
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set(ENV{TBB_TARGET_ARCH} intel64)
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set(ENV{TBB_TARGET_VS} vc11)
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find_package(TBB REQUIRED)
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set(TBB_LIBS "")
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if(TBB_DEBUG_LIBRARIES)
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foreach(lib ${TBB_LIBRARIES})
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list(APPEND TBB_LIBS optimized "${lib}")
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endforeach()
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foreach(lib ${TBB_DEBUG_LIBRARIES})
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list(APPEND TBB_LIBS debug "${lib}")
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endforeach()
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else()
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set(TBB_LIBS ${TBB_LIBRARIES})
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endif()
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###############################################################################
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# Global compile options
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@ -317,6 +319,14 @@ string(TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper)
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message(STATUS " Build type : ${CMAKE_BUILD_TYPE}")
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message(STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${cmake_build_type_toupper}}")
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message(STATUS " C++ compilation flags : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${cmake_build_type_toupper}}")
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if(GTSAM_USE_TBB)
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message(STATUS " Use Intel TBB : Yes")
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elseif(TBB_FOUND)
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message(STATUS " Use Intel TBB : TBB found but GTSAM_WITH_TBB is disabled")
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else()
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message(STATUS " Use Intel TBB : TBB not found")
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endif()
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message(STATUS "Packaging flags ")
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message(STATUS " CPack Source Generator : ${CPACK_SOURCE_GENERATOR}")
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@ -333,5 +343,9 @@ print_config_flag(${GTSAM_BUILD_WRAP} "Build Wrap
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print_config_flag(${GTSAM_INSTALL_WRAP} "Install wrap utility ")
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message(STATUS "===============================================================")
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if(GTSAM_WITH_TBB AND NOT TBB_FOUND)
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message(WARNING "GTSAM_USE_TBB is set to 'On' but TBB was not found. This is ok, but GTSAM parallelization will be disabled. Set GTSAM_USE_TBB to 'Off' to avoid this warning.")
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endif()
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# Include CPack *after* all flags
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include(CPack)
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@ -104,7 +104,7 @@ message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
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if (GTSAM_BUILD_STATIC_LIBRARY)
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message(STATUS "Building GTSAM - static")
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add_library(gtsam-static STATIC ${gtsam_srcs})
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target_link_libraries(gtsam-static ${GTSAM_BOOST_LIBRARIES} ${TBB_LIBS})
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target_link_libraries(gtsam-static ${GTSAM_BOOST_LIBRARIES} ${GTSAM_TBB_LIBRARIES})
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set_target_properties(gtsam-static PROPERTIES
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OUTPUT_NAME gtsam
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CLEAN_DIRECT_OUTPUT 1
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@ -123,7 +123,7 @@ endif ()
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if (GTSAM_BUILD_SHARED_LIBRARY)
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message(STATUS "Building GTSAM - shared")
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add_library(gtsam-shared SHARED ${gtsam_srcs})
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target_link_libraries(gtsam-shared ${GTSAM_BOOST_LIBRARIES} ${TBB_LIBS})
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target_link_libraries(gtsam-shared ${GTSAM_BOOST_LIBRARIES} ${GTSAM_TBB_LIBRARIES})
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set_target_properties(gtsam-shared PROPERTIES
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OUTPUT_NAME gtsam
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CLEAN_DIRECT_OUTPUT 1
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@ -170,5 +170,5 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Macro to handle details of setting up targets
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# FIXME: issue with dependency between wrap_gtsam and wrap_gtsam_build, only shows up on CMake 2.8.3
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wrap_library(gtsam "${mexFlags}" "../" "${TBB_LIBS}")
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wrap_library(gtsam "${mexFlags}" "../" "${GTSAM_TBB_LIBRARIES}")
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endif ()
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@ -18,13 +18,31 @@
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#pragma once
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#include <tbb/concurrent_unordered_map.h>
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#undef min
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#undef max
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#undef ERROR
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#include <gtsam/global_includes.h>
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// Change class depending on whether we are using TBB
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#ifdef GTSAM_USE_TBB
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// Include TBB header
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# include <tbb/concurrent_unordered_map.h>
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# undef min // TBB seems to include Windows.h which defines these macros that cause problems
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# undef max
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# undef ERROR
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// Use TBB concurrent_unordered_map for ConcurrentMap
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# define CONCURRENT_MAP_BASE tbb::concurrent_unordered_map<KEY, VALUE>
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#else
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// If we're not using TBB, use a FastMap for ConcurrentMap
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# include <gtsam/base/FastMap.h>
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# define CONCURRENT_MAP_BASE gtsam::FastMap<KEY, VALUE>
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#endif
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#include <boost/serialization/nvp.hpp>
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#include <boost/serialization/split_member.hpp>
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#include <boost/static_assert.hpp>
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#include <gtsam/base/FastVector.h>
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@ -39,11 +57,11 @@ namespace gtsam {
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* @addtogroup base
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*/
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template<typename KEY, typename VALUE>
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class ConcurrentMap : public tbb::concurrent_unordered_map<KEY, VALUE> {
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class ConcurrentMap : public CONCURRENT_MAP_BASE {
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public:
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typedef tbb::concurrent_unordered_map<KEY, VALUE> Base;
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typedef CONCURRENT_MAP_BASE Base;
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/** Default constructor */
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ConcurrentMap() {}
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@ -52,7 +70,7 @@ public:
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template<typename INPUTITERATOR>
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ConcurrentMap(INPUTITERATOR first, INPUTITERATOR last) : Base(first, last) {}
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/** Copy constructor from another FastMap */
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/** Copy constructor from another ConcurrentMap */
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ConcurrentMap(const ConcurrentMap<KEY,VALUE>& x) : Base(x) {}
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/** Copy constructor from the base map class */
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@ -61,6 +79,15 @@ public:
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/** Handy 'exists' function */
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bool exists(const KEY& e) const { return this->count(e); }
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#ifndef GTSAM_USE_TBB
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// If we're not using TBB and this is actually a FastMap, we need to add these functions and hide
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// the original erase functions.
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iterator unsafe_erase(const_iterator position) { return Base::erase(position); }
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size_type unsafe_erase(const key_type& k) { return Base::erase(k); }
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iterator unsafe_erase(const_iterator first, const_iterator last) { return Base::erase(first, last); }
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void erase() { BOOST_STATIC_ASSERT_MSG(0, "For ConcurrentMap, use unsafe_erase instead of erase."); }
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#endif
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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@ -18,16 +18,22 @@
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#pragma once
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#include <gtsam/global_includes.h>
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#if !defined GTSAM_ALLOCATOR_BOOSTPOOL && !defined GTSAM_ALLOCATOR_TBB && !defined GTSAM_ALLOCATOR_STL
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// Use TBB allocator by default
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# define GTSAM_ALLOCATOR_TBB
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# ifdef GTSAM_USE_TBB
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// Use TBB allocator by default if we have TBB, otherwise boost pool
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# define GTSAM_ALLOCATOR_TBB
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# else
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# define GTSAM_ALLOCATOR_BOOSTPOOL
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# endif
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#endif
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#if defined GTSAM_ALLOCATOR_BOOSTPOOL
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# include <boost/pool/pool_alloc.hpp>
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#elif defined GTSAM_ALLOCATOR_TBB
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# include <tbb/tbb_allocator.h>
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# undef min
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# undef min // TBB seems to include Windows.h which defines these macros that cause problems
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# undef max
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# undef ERROR
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#elif defined GTSAM_ALLOCATOR_STL
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@ -39,6 +45,7 @@ namespace gtsam
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namespace internal
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{
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/// Default allocator for list, map, and set types
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template<typename T>
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struct FastDefaultAllocator
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{
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@ -57,6 +64,23 @@ namespace gtsam
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static const bool isBoost = false;
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static const bool isTBB = false;
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static const bool isSTL = true;
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#endif
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};
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/// Default allocator for vector types (we never use boost pool for vectors)
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template<typename T>
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struct FastDefaultVectorAllocator
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{
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#if defined GTSAM_ALLOCATOR_TBB
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typedef tbb::tbb_allocator<T> type;
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static const bool isBoost = false;
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static const bool isTBB = true;
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static const bool isSTL = false;
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#else
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typedef std::allocator<T> type;
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static const bool isBoost = false;
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static const bool isTBB = false;
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static const bool isSTL = true;
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#endif
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};
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}
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@ -35,11 +35,11 @@ namespace gtsam {
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* @addtogroup base
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*/
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template<typename VALUE>
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class FastVector: public std::vector<VALUE, typename internal::FastDefaultAllocator<VALUE>::type> {
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class FastVector: public std::vector<VALUE, typename internal::FastDefaultVectorAllocator<VALUE>::type> {
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public:
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typedef std::vector<VALUE, typename internal::FastDefaultAllocator<VALUE>::type> Base;
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typedef std::vector<VALUE, allocator_type> Base;
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/** Default constructor */
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FastVector() {}
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@ -60,9 +60,6 @@ public:
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Base::assign(first, last);
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}
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/** Copy constructor from another FastVector */
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FastVector(const FastVector<VALUE>& x) : Base(x) {}
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/** Copy constructor from a FastList */
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FastVector(const FastList<VALUE>& x) {
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if(x.size() > 0)
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@ -79,7 +76,9 @@ public:
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FastVector(const Base& x) : Base(x) {}
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/** Copy constructor from a standard STL container */
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FastVector(const std::vector<VALUE>& x, typename boost::disable_if_c<internal::FastDefaultAllocator<VALUE>::isSTL>::type* = 0) {
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template<typename ALLOCATOR>
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FastVector(const std::vector<VALUE, ALLOCATOR>& x)
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{
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// This if statement works around a bug in boost pool allocator and/or
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// STL vector where if the size is zero, the pool allocator will allocate
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// huge amounts of memory.
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@ -149,7 +149,8 @@ const boost::shared_ptr<TimingOutline>& TimingOutline::child(size_t child, const
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}
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/* ************************************************************************* */
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void TimingOutline::ticInternal() {
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void TimingOutline::ticInternal()
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{
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#ifdef GTSAM_USING_NEW_BOOST_TIMERS
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assert(timer_.is_stopped());
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timer_.start();
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@ -158,24 +159,41 @@ void TimingOutline::ticInternal() {
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timer_.restart();
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*timerActive_ = true;
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#endif
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#ifdef GTSAM_USE_TBB
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tbbTimer_ = tbb::tick_count::now();
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#endif
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}
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/* ************************************************************************* */
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void TimingOutline::tocInternal() {
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void TimingOutline::tocInternal()
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{
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#ifdef GTSAM_USING_NEW_BOOST_TIMERS
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assert(!timer_.is_stopped());
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timer_.stop();
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add((timer_.elapsed().user + timer_.elapsed().system) / 1000,
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//timer_.elapsed().wall / 1000
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size_t((tbb::tick_count::now() - tbbTimer_).seconds() * 1e6)
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);
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size_t cpuTime = (timer_.elapsed().user + timer_.elapsed().system) / 1000;
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# ifndef GTSAM_USE_TBB
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size_t wallTime = timer_.elapsed().wall / 1000;
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# endif
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#else
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assert(timerActive_);
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double elapsed = timer_.elapsed();
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add(size_t(elapsed * 1000000.0), 0);
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size_t cpuTime = size_t(elapsed * 1000000.0);
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*timerActive_ = false;
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# ifndef GTSAM_USE_TBB
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size_t wallTime = cpuTime;
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# endif
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#endif
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#ifdef GTSAM_USE_TBB
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size_t wallTime = size_t((tbb::tick_count::now() - tbbTimer_).seconds() * 1e6);
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#endif
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add(cpuTime, wallTime);
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}
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/* ************************************************************************* */
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@ -26,21 +26,23 @@
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// Automatically use the new Boost timers if version is recent enough.
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#if BOOST_VERSION >= 104800
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#ifndef GTSAM_DISABLE_NEW_TIMERS
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#define GTSAM_USING_NEW_BOOST_TIMERS
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#endif
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# ifndef GTSAM_DISABLE_NEW_TIMERS
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# define GTSAM_USING_NEW_BOOST_TIMERS
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# endif
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#endif
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#ifdef GTSAM_USING_NEW_BOOST_TIMERS
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#include <boost/timer/timer.hpp>
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# include <boost/timer/timer.hpp>
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#else
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#include <boost/timer.hpp>
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# include <boost/timer.hpp>
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#endif
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#include <tbb/tick_count.h>
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#undef min
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#undef max
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#undef ERROR
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#ifdef GTSAM_USE_TBB
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# include <tbb/tick_count.h>
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# undef min
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# undef max
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# undef ERROR
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#endif
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namespace gtsam {
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@ -71,7 +73,9 @@ namespace gtsam {
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boost::timer timer_;
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gtsam::ValueWithDefault<bool,false> timerActive_;
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#endif
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#ifdef GTSAM_USE_TBB
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tbb::tick_count tbbTimer_;
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#endif
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void add(size_t usecs, size_t usecsWall);
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public:
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TimingOutline(const std::string& label, size_t myId);
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@ -28,9 +28,12 @@
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#include <boost/foreach.hpp>
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#include <boost/bind.hpp>
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#include <tbb/tbb.h>
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#undef max // TBB seems to include windows.h and we don't want these macros
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#undef min
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#ifdef GTSAM_USE_TBB
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# include <tbb/tbb.h>
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# undef max // TBB seems to include windows.h and we don't want these macros
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# undef min
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# undef ERROR
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#endif
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namespace gtsam {
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@ -56,6 +59,9 @@ namespace gtsam {
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void operator()(const boost::shared_ptr<NODE>& node, const DATA& data) {}
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};
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#ifdef GTSAM_USE_TBB
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// Internal node used in parallel traversal stack
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template<typename NODE, typename DATA>
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struct ParallelTraversalNode {
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@ -172,12 +178,8 @@ namespace gtsam {
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return *new(tbb::task::allocate_root()) RootTask(roots, rootData, visitorPre, visitorPost, problemSizeThreshold);
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}
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/* ************************************************************************* */
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//template<class NODE, typename DATA>
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//struct ParallelDFSData {
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// DATA myData;
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// FastList<ParallelTraversalNode<NODE,DATA> >&
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//};
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#endif
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}
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/** Traverse a forest depth-first with pre-order and post-order visits.
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@ -275,12 +277,16 @@ namespace gtsam {
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void DepthFirstForestParallel(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost,
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int problemSizeThreshold = 10)
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{
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#ifdef GTSAM_USE_TBB
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// Typedefs
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typedef typename FOREST::Node Node;
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typedef boost::shared_ptr<Node> sharedNode;
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tbb::task::spawn_root_and_wait(CreateRootTask<Node>(
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forest.roots(), rootData, visitorPre, visitorPost, problemSizeThreshold));
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#else
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DepthFirstForest(forest, rootData, visitorPre, visitorPost);
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||||
#endif
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}
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||||
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||||
|
|
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|
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@ -30,4 +30,7 @@
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// Whether GTSAM is compiled to use Rot3::EXPMAP as the default coordinates mode for Rot3's retract and localCoordinates (otherwise, Pose3::CAYLEY will be used)
|
||||
#ifndef GTSAM_USE_QUATERNIONS
|
||||
#cmakedefine GTSAM_ROT3_EXPMAP
|
||||
#endif
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||||
#endif
|
||||
|
||||
// Whether we are using TBB (if TBB was found and GTSAM_WITH_TBB is enabled in CMake)
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#cmakedefine GTSAM_USE_TBB
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||||
|
|
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|||
|
|
@ -293,10 +293,6 @@ namespace gtsam {
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|||
boost::shared_ptr<BayesTreeType> result = boost::make_shared<BayesTreeType>();
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||||
EliminationData<This> rootsContainer(0, roots_.size());
|
||||
EliminationPostOrderVisitor<This> visitorPost(function, result->nodes_);
|
||||
#ifdef ENABLE_TIMING
|
||||
// In timing mode, use a single thread only, timing outline is not thread-safe.
|
||||
tbb::task_scheduler_init init(1);
|
||||
#endif
|
||||
treeTraversal::DepthFirstForestParallel(*this, rootsContainer,
|
||||
eliminationPreOrderVisitor<This>, visitorPost, 10);
|
||||
|
||||
|
|
|
|||
|
|
@ -24,10 +24,6 @@
|
|||
#include <gtsam/linear/GaussianFactor.h>
|
||||
|
||||
#include <boost/make_shared.hpp>
|
||||
#include <tbb/tbb.h>
|
||||
#undef max
|
||||
#undef min
|
||||
#undef ERROR
|
||||
|
||||
namespace gtsam {
|
||||
|
||||
|
|
|
|||
|
|
@ -122,7 +122,7 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX)
|
|||
endif()
|
||||
|
||||
# Macro to handle details of setting up targets
|
||||
wrap_library(gtsam_unstable "${mexFlags}" "./" "gtsam;${TBB_LIBS}")
|
||||
wrap_library(gtsam_unstable "${mexFlags}" "./" "gtsam;${GTSAM_TBB_LIBRARIES}")
|
||||
|
||||
endif(GTSAM_INSTALL_MATLAB_TOOLBOX)
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue