change from deprecated tbb::mutex to std::mutex

gtsam/base/debug.cpp

@@ -19,31 +19,23 @@
 #include <gtsam/base/debug.h>
 #include <gtsam/config.h> // for GTSAM_USE_TBB
 
-#ifdef GTSAM_USE_TBB
-#include <tbb/mutex.h>
-#endif
+#include <mutex> // std::mutex, std::unique_lock
 
 namespace gtsam {
 
 GTSAM_EXPORT FastMap<std::string, ValueWithDefault<bool, false> > debugFlags;
 
-#ifdef GTSAM_USE_TBB
-tbb::mutex debugFlagsMutex;
-#endif
+std::mutex debugFlagsMutex;
 
 /* ************************************************************************* */
 bool guardedIsDebug(const std::string& s) {
-#ifdef GTSAM_USE_TBB
-  tbb::mutex::scoped_lock lock(debugFlagsMutex);
-#endif
+  std::unique_lock<std::mutex> lock(debugFlagsMutex);
   return gtsam::debugFlags[s];
 }
 
 /* ************************************************************************* */
 void guardedSetDebug(const std::string& s, const bool v) {
-#ifdef GTSAM_USE_TBB
-  tbb::mutex::scoped_lock lock(debugFlagsMutex);
-#endif
+  std::unique_lock<std::mutex> lock(debugFlagsMutex);
   gtsam::debugFlags[s] = v;
 }
 

gtsam/geometry/Unit3.cpp

@@ -80,12 +80,10 @@ static Point3 CalculateBestAxis(const Point3& n) {
 
 /* ************************************************************************* */
 const Matrix32& Unit3::basis(OptionalJacobian<6, 2> H) const {
-#ifdef GTSAM_USE_TBB
   // NOTE(hayk): At some point it seemed like this reproducably resulted in
   // deadlock. However, I don't know why and I can no longer reproduce it.
   // It either was a red herring or there is still a latent bug left to debug.
-  tbb::mutex::scoped_lock lock(B_mutex_);
-#endif
+  std::unique_lock<std::mutex> lock(B_mutex_);
 
   const bool cachedBasis = static_cast<bool>(B_);
   const bool cachedJacobian = static_cast<bool>(H_B_);

gtsam/geometry/Unit3.h

@@ -32,9 +32,7 @@
 
 #include <string>
 
-#ifdef GTSAM_USE_TBB
-#include <tbb/mutex.h>
-#endif
+#include <mutex> // std::mutex
 
 namespace gtsam {
 
@@ -47,9 +45,7 @@ private:
   mutable boost::optional<Matrix32> B_; ///< Cached basis
   mutable boost::optional<Matrix62> H_B_; ///< Cached basis derivative
 
-#ifdef GTSAM_USE_TBB
-  mutable tbb::mutex B_mutex_; ///< Mutex to protect the cached basis.
-#endif
+  mutable std::mutex B_mutex_; ///< Mutex to protect the cached basis.
 
 public: