Merge pull request #490 from borglab/feature/tbb_fixes

TBB CI Fixes

.github/scripts/python.sh

@@ -6,6 +6,38 @@
 
 set -x -e
 
+# install TBB with _debug.so files
+function install_tbb()
+{
+  TBB_BASEURL=https://github.com/oneapi-src/oneTBB/releases/download
+  TBB_VERSION=4.4.5
+  TBB_DIR=tbb44_20160526oss
+  TBB_SAVEPATH="/tmp/tbb.tgz"
+
+  if [ "$(uname)" == "Linux" ]; then
+    OS_SHORT="lin"
+    TBB_LIB_DIR="intel64/gcc4.4"
+    SUDO="sudo"
+
+  elif [ "$(uname)" == "Darwin" ]; then
+    OS_SHORT="osx"
+    TBB_LIB_DIR=""
+    SUDO=""
+
+  fi
+
+  wget "${TBB_BASEURL}/${TBB_VERSION}/${TBB_DIR}_${OS_SHORT}.tgz" -O $TBB_SAVEPATH
+  tar -C /tmp -xf $TBB_SAVEPATH
+
+  TBBROOT=/tmp/$TBB_DIR
+  # Copy the needed files to the correct places.
+  # This works correctly for CI builds, instead of setting path variables.
+  # This is what Homebrew does to install TBB on Macs
+  $SUDO cp -R $TBBROOT/lib/$TBB_LIB_DIR/* /usr/local/lib/
+  $SUDO cp -R $TBBROOT/include/ /usr/local/include/
+
+}
+
 if [ -z ${PYTHON_VERSION+x} ]; then
     echo "Please provide the Python version to build against!"
     exit 127
@@ -27,6 +59,8 @@ fi
 
 PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin
 
+[ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb
+
 case $WRAPPER in
 "cython")
     BUILD_CYTHON="ON"
@@ -53,6 +87,7 @@ cd $GITHUB_WORKSPACE/build
 cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=Release \
     -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=ON \
     -DGTSAM_USE_QUATERNIONS=OFF \
+    -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
     -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
     -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
     -DGTSAM_INSTALL_CYTHON_TOOLBOX=${BUILD_CYTHON} \

.github/scripts/unix.sh

@@ -66,7 +66,6 @@ function configure()
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
       -DGTSAM_ALLOW_DEPRECATED_SINCE_V41=${GTSAM_ALLOW_DEPRECATED_SINCE_V41:-OFF} \
       -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \
-      -DGTSAM_TYPEDEF_POINTS_TO_VECTOR=${GTSAM_TYPEDEF_POINTS_TO_VECTOR:-OFF} \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
       -DBOOST_ROOT=$BOOST_ROOT \
       -DBoost_NO_SYSTEM_PATHS=ON \

.github/workflows/build-python.yml

@@ -23,6 +23,7 @@ jobs:
           # ubuntu-18.04-gcc-9,  # TODO Disabled for now because of timeouts
           ubuntu-18.04-clang-9,
           macOS-10.15-xcode-11.3.1,
+          ubuntu-18.04-gcc-5-tbb,
         ]
 
         build_type: [Debug, Release]
@@ -50,6 +51,12 @@ jobs:
             compiler: xcode
             version: "11.3.1"
 
+          - name: ubuntu-18.04-gcc-5-tbb
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "5"
+            flag: tbb
+
     steps:
       - name: Checkout
         uses: actions/checkout@master
@@ -86,6 +93,11 @@ jobs:
             echo "::set-env name=CC::clang"
             echo "::set-env name=CXX::clang++"
           fi
+      - name: Set GTSAM_WITH_TBB Flag
+        if: matrix.flag == 'tbb'
+        run: |
+          echo "::set-env name=GTSAM_WITH_TBB::ON"
+          echo "GTSAM Uses TBB"
       - name: Build (Linux)
         if: runner.os == 'Linux'
         run: |

.github/workflows/build-special.yml

@@ -23,7 +23,7 @@ jobs:
           [
             ubuntu-gcc-deprecated,
             ubuntu-gcc-quaternions,
-            ubuntu-gcc-points-vector,
+            ubuntu-gcc-tbb,
           ]
 
         build_type: [Debug, Release]
@@ -41,11 +41,11 @@ jobs:
             version: "9"
             flag: quaternions
 
-          - name: ubuntu-gcc-points-vector
+          - name: ubuntu-gcc-tbb
             os: ubuntu-18.04
             compiler: gcc
             version: "9"
-            flag: points-vector
+            flag: tbb
 
     steps:
       - name: Checkout
@@ -91,21 +91,21 @@ jobs:
 
       - name: Set Allow Deprecated Flag
         if: matrix.flag == 'deprecated'
-        env:
+        run: |
-          GTSAM_ALLOW_DEPRECATED_SINCE_V41: ON
+          echo "::set-env name=GTSAM_ALLOW_DEPRECATED_SINCE_V41::ON"
-        run: echo "Allow deprecated since version 4.1"
+          echo "Allow deprecated since version 4.1"
 
       - name: Set Use Quaternions Flag
         if: matrix.flag == 'quaternions'
-        env:
+        run: |
-          GTSAM_USE_QUATERNIONS: ON
+          echo "::set-env name=GTSAM_USE_QUATERNIONS::ON"
-        run: echo "Use Quaternions for rotations"
+          echo "Use Quaternions for rotations"
 
-      - name: Set Typedef Points to Vector Flag
+      - name: Set GTSAM_WITH_TBB Flag
-        if: matrix.flag == 'points-vector'
+        if: matrix.flag == 'tbb'
-        env:
+        run: |
-          GTSAM_TYPEDEF_POINTS_TO_VECTOR: ON
+          echo "::set-env name=GTSAM_WITH_TBB::ON"
-        run: echo "Typedef Points to Vector"
+          echo "GTSAM Uses TBB"
 
       - name: Build & Test
         run: |

python/gtsam/preamble.h

@@ -2,12 +2,10 @@
 // These are required to save one copy operation on Python calls
 #ifdef GTSAM_ALLOCATOR_TBB
 PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Key, tbb::tbb_allocator<gtsam::Key>>);
-PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point2> >);
-PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Pose3>);
-PYBIND11_MAKE_OPAQUE(std::vector<gtsam::BetweenFactor<gtsam::Pose3>>);
 #else
 PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Key>);
+#endif
 PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point2> >);
 PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Pose3>);
-PYBIND11_MAKE_OPAQUE(std::vector<gtsam::BetweenFactor<gtsam::Pose3>>);
+PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > >);
-#endif
+PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > >);

python/gtsam/specializations.h

@@ -9,4 +9,3 @@ py::bind_vector<std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point
 py::bind_vector<std::vector<gtsam::Pose3> >(m_, "Pose3Vector");
 py::bind_vector<std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > > >(m_, "BetweenFactorPose3s");
 py::bind_vector<std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > > >(m_, "BetweenFactorPose2s");
-