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Switched a couple of data structures - ISAM2::Nodes and Scatter, to tbb versions for better performance

release/4.3a0
Richard Roberts 2013-08-14 22:54:00 +00:00
parent 19c69967a2
commit 174c2da7d9
5 changed files with 14 additions and 6 deletions
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4
gtsam/inference/BayesTree-inst.h
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@ -416,7 +416,7 @@ namespace gtsam {
child->parent_ = typename Clique::weak_ptr(); child->parent_ = typename Clique::weak_ptr();
BOOST_FOREACH(Key j, clique->conditional()->frontals()) { BOOST_FOREACH(Key j, clique->conditional()->frontals()) {
nodes_.erase(j); nodes_.unsafe_erase(j);
} }
} }
@ -495,7 +495,7 @@ namespace gtsam {
// Remove this node from the nodes index // Remove this node from the nodes index
BOOST_FOREACH(Key j, (*clique)->conditional()->frontals()) { BOOST_FOREACH(Key j, (*clique)->conditional()->frontals()) {
nodes_.erase(j); } nodes_.unsafe_erase(j); }
// Erase the parent and children pointers // Erase the parent and children pointers
(*clique)->parent_.reset(); (*clique)->parent_.reset();

6
gtsam/inference/BayesTree.h
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@ -21,6 +21,10 @@
#include <vector> #include <vector>
#include <string> #include <string>
#include <tbb/tbb.h>
#undef max
#undef min
#undef ERROR
#include <gtsam/base/types.h> #include <gtsam/base/types.h>
#include <gtsam/base/FastList.h> #include <gtsam/base/FastList.h>
@ -87,7 +91,7 @@ namespace gtsam {
typedef FastList<sharedClique> Cliques; typedef FastList<sharedClique> Cliques;
/** Map from keys to Clique */ /** Map from keys to Clique */
typedef FastMap<Key, sharedClique> Nodes; typedef tbb::concurrent_unordered_map<Key, sharedClique> Nodes;
protected: protected:

6
gtsam/linear/HessianFactor.h
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@ -23,6 +23,10 @@
#include <vector> #include <vector>
#include <boost/make_shared.hpp> #include <boost/make_shared.hpp>
#include <tbb/tbb.h>
#undef max
#undef min
#undef ERROR
namespace gtsam { namespace gtsam {
@ -51,7 +55,7 @@ namespace gtsam {
: slot(_slot), dimension(_dimension) {} : slot(_slot), dimension(_dimension) {}
std::string toString() const; std::string toString() const;
}; };
class Scatter : public FastMap<Key, SlotEntry> { class Scatter : public std::map<Key, SlotEntry, std::less<Key>, tbb::tbb_allocator<std::pair<const Key, SlotEntry> > > {
public: public:
Scatter() {} Scatter() {}
Scatter(const GaussianFactorGraph& gfg, boost::optional<const Ordering&> ordering = boost::none); Scatter(const GaussianFactorGraph& gfg, boost::optional<const Ordering&> ordering = boost::none);

2
gtsam/nonlinear/ISAM2-impl.cpp
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@ -55,7 +55,7 @@ void ISAM2::Impl::RemoveVariables(const FastSet<Key>& unusedKeys, const std::vec
deltaNewton.erase(key); deltaNewton.erase(key);
RgProd.erase(key); RgProd.erase(key);
replacedKeys.erase(key); replacedKeys.erase(key);
nodes.erase(key); nodes.unsafe_erase(key);
theta.erase(key); theta.erase(key);
fixedVariables.erase(key); fixedVariables.erase(key);
} }

2
gtsam/nonlinear/ISAM2.cpp
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@ -764,7 +764,7 @@ void ISAM2::marginalizeLeaves(const FastList<Key>& leafKeysList,
// Remove each variable and its subtrees // Remove each variable and its subtrees
BOOST_REVERSE_FOREACH(Key j, leafKeys) { BOOST_REVERSE_FOREACH(Key j, leafKeys) {
if(nodes_.exists(j)) { // If the index was not already removed by removing another subtree if(nodes_.count(j)) { // If the index was not already removed by removing another subtree
sharedClique clique = nodes_[j]; sharedClique clique = nodes_[j];
// See if we should remove the whole clique // See if we should remove the whole clique