Fixed serialization problems with tbb data structures

gtsam/base/ConcurrentMap.h

@@ -0,0 +1,86 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    FastMap.h
+ * @brief   A thin wrapper around std::map that uses boost's fast_pool_allocator.
+ * @author  Richard Roberts
+ * @date    Oct 17, 2010
+ */
+
+#pragma once
+
+#include <tbb/concurrent_unordered_map.h>
+#undef min
+#undef max
+#undef ERROR
+
+#include <boost/serialization/nvp.hpp>
+#include <boost/serialization/split_member.hpp>
+
+#include <gtsam/base/FastVector.h>
+
+namespace gtsam {
+
+/**
+ * FastMap is a thin wrapper around std::map that uses the boost
+ * fast_pool_allocator instead of the default STL allocator.  This is just a
+ * convenience to avoid having lengthy types in the code.  Through timing,
+ * we've seen that the fast_pool_allocator can lead to speedups of several
+ * percent.
+ * @addtogroup base
+ */
+template<typename KEY, typename VALUE>
+class ConcurrentMap : public tbb::concurrent_unordered_map<KEY, VALUE> {
+
+public:
+
+  typedef tbb::concurrent_unordered_map<KEY, VALUE> Base;
+
+  /** Default constructor */
+  ConcurrentMap() {}
+
+  /** Constructor from a range, passes through to base class */
+  template<typename INPUTITERATOR>
+  ConcurrentMap(INPUTITERATOR first, INPUTITERATOR last) : Base(first, last) {}
+
+  /** Copy constructor from another FastMap */
+  ConcurrentMap(const ConcurrentMap<KEY,VALUE>& x) : Base(x) {}
+
+  /** Copy constructor from the base map class */
+  ConcurrentMap(const Base& x) : Base(x) {}
+
+  /** Handy 'exists' function */
+  bool exists(const KEY& e) const { return this->count(e); }
+
+private:
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template<class Archive>
+  void save(Archive& ar, const unsigned int version) const
+  {
+    // Copy to an STL container and serialize that
+    FastVector<std::pair<KEY, VALUE> > map(this->size());
+    std::copy(this->begin(), this->end(), map.begin());
+    ar & BOOST_SERIALIZATION_NVP(map);
+  }
+  template<class Archive>
+  void load(Archive& ar, const unsigned int version)
+  {
+    // Load into STL container and then fill our map
+    FastVector<std::pair<KEY, VALUE> > map;
+    ar & BOOST_SERIALIZATION_NVP(map);
+    this->insert(map.begin(), map.end());
+  }
+  BOOST_SERIALIZATION_SPLIT_MEMBER()
+};
+
+}

gtsam/inference/BayesTree.h

@@ -20,14 +20,10 @@
 #pragma once
 
 #include <string>
-#include <tbb/tbb.h>
-#undef max
-#undef min
-#undef ERROR
 
 #include <gtsam/base/types.h>
 #include <gtsam/base/FastList.h>
-#include <gtsam/base/FastMap.h>
+#include <gtsam/base/ConcurrentMap.h>
 #include <gtsam/base/FastVector.h>
 
 namespace gtsam {
@@ -91,7 +87,7 @@ namespace gtsam {
     typedef FastList<sharedClique> Cliques;
 
     /** Map from keys to Clique */
-    typedef tbb::concurrent_unordered_map<Key, sharedClique> Nodes;
+    typedef ConcurrentMap<Key, sharedClique> Nodes;
 
   protected:
 

gtsam/linear/HessianFactor.h

@@ -20,6 +20,7 @@
 
 #include <gtsam/base/SymmetricBlockMatrix.h>
 #include <gtsam/base/FastVector.h>
+#include <gtsam/base/FastMap.h>
 #include <gtsam/linear/GaussianFactor.h>
 
 #include <boost/make_shared.hpp>
@@ -55,7 +56,7 @@ namespace gtsam {
     : slot(_slot), dimension(_dimension) {}
     std::string toString() const;
   };
-  class Scatter : public std::map<Key, SlotEntry, std::less<Key>, tbb::tbb_allocator<std::pair<const Key, SlotEntry> > > {
+  class Scatter : public FastMap<Key, SlotEntry> {
   public:
     Scatter() {}
     Scatter(const GaussianFactorGraph& gfg, boost::optional<const Ordering&> ordering = boost::none);

gtsam/linear/VectorValues.h

@@ -18,17 +18,12 @@
 #pragma once
 
 #include <gtsam/base/Vector.h>
-#include <gtsam/base/FastMap.h>
+#include <gtsam/base/ConcurrentMap.h>
 #include <gtsam/base/FastVector.h>
 #include <gtsam/global_includes.h>
 
 #include <boost/shared_ptr.hpp>
 
-#include <tbb/concurrent_unordered_map.h>
-#undef min
-#undef max
-#undef ERROR
-
 namespace gtsam {
 
   /**
@@ -93,7 +88,7 @@ namespace gtsam {
   class GTSAM_EXPORT VectorValues {
   protected:
     typedef VectorValues This;
-    typedef tbb::concurrent_unordered_map<Key, Vector> Values; ///< Typedef for the collection of Vectors making up a VectorValues
+    typedef ConcurrentMap<Key, Vector> Values; ///< Typedef for the collection of Vectors making up a VectorValues
     Values values_; ///< Collection of Vectors making up this VectorValues
 
   public: