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Fix the race! #1158

Merged
merged 2 commits into from
Apr 7, 2022
Merged

Fix the race! #1158

merged 2 commits into from
Apr 7, 2022

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ProfFan
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@ProfFan ProfFan commented Apr 5, 2022

This fixes the TBB race by adding proper locks.

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ProfFan commented Apr 5, 2022

This fixes #1092. @DanMcGann @acxz @cdb0y511 @matlabbe could you all take a look and see if this fixed your problem?

@varunagrawal
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Can we get some performance numbers please?
Want to make sure the mutexes aren't preventing full parallelization.

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ProfFan commented Apr 5, 2022

I did tracing locally, the lock is only hit about 5 times per optimization and the performance impact is neglectable. @varunagrawal

@ProfFan ProfFan linked an issue Apr 5, 2022 that may be closed by this pull request
std::out_of_range with map::at exception with gtsam 4.1.1 (rtabmap) #1092
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@varunagrawal
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Having full performance metrics would still be great. Think about when something changes in the future and someone else comes and looks at this PR.

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ProfFan commented Apr 6, 2022

Before: 1.33s per optimization
After: 1.35s per optimization for the benchmark testTBBFail posted in fix/tbb_regression (experiment branch)

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ProfFan commented Apr 6, 2022

@dellaert It would be great if this can be merged before 4.2a6, since this is very important for TBB to be actually used in practice.

varunagrawal
varunagrawal approved these changes Apr 7, 2022
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LGTM! Great stuff Fan.

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ProfFan commented Apr 7, 2022

Thanks Varun!

@ProfFan ProfFan merged commit a0a8010 into borglab:develop Apr 7, 2022
@ProfFan ProfFan deleted the fix/tbb branch April 7, 2022 17:29
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dellaert commented Apr 8, 2022

Please note 4.2a6 is already set in stone: Linux wheels have been out. We can't have 2 different 4.2a6 versions!
Waiting for Fan to create mac wheels and upload them to pypi.

@ProfFan ProfFan mentioned this pull request Apr 19, 2022
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@ceccocats ceccocats mentioned this pull request May 16, 2022
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@varunagrawal varunagrawal varunagrawal approved these changes

@dellaert dellaert Awaiting requested review from dellaert

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std::out_of_range with map::at exception with gtsam 4.1.1 (rtabmap)
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@ProfFan @varunagrawal @dellaert