Merge pull request #198 from jumonatr/memory

Simplified Memory Ownership

CMakeLists.txt

@@ -1,4 +1,4 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
 SET(CMAKE_LEGACY_CYGWIN_WIN32 0)
 
 PROJECT(g2o)
@@ -74,33 +74,6 @@ LIST(APPEND CMAKE_MODULE_PATH ${g2o_SOURCE_DIR}/cmake_modules)
 IF(WIN32)
   ADD_DEFINITIONS(-DWINDOWS)
   MESSAGE(STATUS "Compiling on Windows")
-  IF(MSVC)
-    MESSAGE(STATUS "Compiling with MSVC")
-    ADD_DEFINITIONS(-DNOMINMAX)
-    ADD_DEFINITIONS(-D_USE_MATH_DEFINES)
-
-    # exception handling
-    add_definitions("/EHsc")
-
-    # SSE2 optimizations
-    if(NOT CMAKE_SIZEOF_VOID_P EQUAL 8)  # No need to specify if building for x64 (actually, it generates an annoying warning)
-        ADD_DEFINITIONS("/arch:SSE2")
-    endif()
-
-    IF (BUILD_SHARED_LIBS)
-      # disable warning on missing DLL interfaces
-      ADD_DEFINITIONS("/wd4251")
-    ENDIF()
-    # Fix issue: https://github.com/RainerKuemmerle/g2o/issues/66
-    #            Link error LNK2005 due to duplicated symbols
-    add_definitions("/Ob2")	
-    # Fix other stupid warnings:
-    add_definitions(-D_CRT_SECURE_NO_WARNINGS=1)  # Avoid deprecated fprintf(), etc.
-    add_definitions("/nologo")
-    add_definitions("/wd4244") # Conversion from double -> int
-    add_definitions("/wd4267") # Conversion during return
-    add_definitions("/wd4522") # Duplicated operator=() in Eigen headers
-  ENDIF(MSVC)
 ELSEIF(CYGWIN)
   MESSAGE(STATUS "Compiling on Cygwin")
   ADD_DEFINITIONS(-DCYGWIN)
@@ -189,6 +162,9 @@ IF(G2O_BUILD_EXAMPLES)
   MESSAGE(STATUS "Compiling g2o examples")
 ENDIF(G2O_BUILD_EXAMPLES)
 
+OPTION(G2O_FAST_MATH "Enable fast math operations" OFF)
+OPTION(G2O_NO_IMPLICIT_OWNERSHIP_OF_OBJECTS "Disables memory management in the graph types, this requires the callers to manager the memory of edges and nodes" OFF)
+
 # Compiler specific options for gcc
 IF(CMAKE_COMPILER_IS_GNUCXX)
   OPTION (BUILD_WITH_MARCH_NATIVE "Build with \"-march native\"" ON)
@@ -199,6 +175,11 @@ IF(CMAKE_COMPILER_IS_GNUCXX)
     SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -msse4.2")
     SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -msse4.2")
   ENDIF()
+
+  IF(G2O_FAST_MATH)
+    SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -ffast-math")
+  ENDIF()
+
   # switch off optimization for debug builds
   SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O0")
   SET(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -O0")
@@ -229,19 +210,58 @@ IF(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   #SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Wall -stdlib=libc++")
 ENDIF()
 
-# C++11 support
-IF(NOT MSVC)
-  include(CheckCXXCompilerFlag)
-  CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-  CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-  if(COMPILER_SUPPORTS_CXX11)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-  elseif(COMPILER_SUPPORTS_CXX0X)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
-  else()
-    message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+IF(MSVC)
+  MESSAGE(STATUS "Compiling with MSVC")
+
+  IF (CMAKE_GENERATOR MATCHES "ARM(64)?$")
+    SET(MSVC_ARM ON)
+  ENDIF()
+
+  ADD_DEFINITIONS(-DNOMINMAX)
+  ADD_DEFINITIONS(-D_USE_MATH_DEFINES)
+
+  # exception handling
+  ADD_DEFINITIONS("/EHsc")
+
+  IF (G2O_FAST_MATH)
+    SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /fp:fast")
+  ENDIF()
+
+  SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /Ox /Oi")
+  SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} /Ox /Oi")
+
+  SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O0")
+  SET(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -O0")
+
+  # SSE2 optimizations
+  # No need to specify if building for x64 (actually, it generates an annoying warning)
+  if (NOT MSVC_ARM)
+    if(NOT CMAKE_SIZEOF_VOID_P EQUAL 8)
+        ADD_DEFINITIONS("/arch:SSE2")
+    endif()
   endif()
-endif()
+
+  IF (BUILD_SHARED_LIBS)
+    # disable warning on missing DLL interfaces
+    ADD_DEFINITIONS("/wd4251")
+  ENDIF()
+
+  # Fix issue: https://github.com/RainerKuemmerle/g2o/issues/66
+  #            Link error LNK2005 due to duplicated symbols
+  add_definitions("/Ob2")
+  # Fix other stupid warnings:
+  add_definitions(-D_CRT_SECURE_NO_WARNINGS=1)  # Avoid deprecated fprintf(), etc.
+  add_definitions("/nologo")
+  # TODO not sure this should be a thing
+  add_definitions("/wd4244") # Conversion from number_t -> int
+  add_definitions("/wd4267") # Conversion during return
+  add_definitions("/wd4522") # Duplicated operator=() in Eigen headers
+
+ENDIF(MSVC)
+
+# C++11 support
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 # specifying compiler flags
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${g2o_CXX_FLAGS}")

config.h.in

@@ -12,6 +12,14 @@
 #cmakedefine G2O_HAVE_CHOLMOD 1
 #cmakedefine G2O_HAVE_CSPARSE 1
 
+#cmakedefine G2O_NO_IMPLICIT_OWNERSHIP_OF_OBJECTS
+
+#ifdef G2O_NO_IMPLICIT_OWNERSHIP_OF_OBJECTS
+#define G2O_DELETE_IMPLICITLY_OWNED_OBJECTS 0
+#else
+#define G2O_DELETE_IMPLICITLY_OWNED_OBJECTS 1
+#endif
+
 #cmakedefine G2O_CXX_COMPILER "@G2O_CXX_COMPILER@"
 
 #ifdef __cplusplus

g2o/core/CMakeLists.txt

@@ -1,5 +1,6 @@
 ADD_LIBRARY(core ${G2O_LIB_TYPE}
 dynamic_aligned_buffer.hpp
+ownership.h
 base_edge.h
 base_binary_edge.h          hyper_graph_action.cpp
 base_binary_edge.hpp        hyper_graph_action.h

g2o/core/block_solver.h

@@ -26,13 +26,17 @@
 
 #ifndef G2O_BLOCK_SOLVER_H
 #define G2O_BLOCK_SOLVER_H
+
 #include <Eigen/Core>
 #include "solver.h"
 #include "linear_solver.h"
 #include "sparse_block_matrix.h"
 #include "sparse_block_matrix_diagonal.h"
 #include "openmp_mutex.h"
 #include "g2o/config.h"
+#include "dynamic_aligned_buffer.hpp"
+
+#include <memory>
 
 namespace g2o {
 
@@ -93,9 +97,9 @@ namespace g2o {
    * \brief Implementation of a solver operating on the blocks of the Hessian
    */
   template <typename Traits>
-  class BlockSolver: public BlockSolverBase {
+  class BlockSolver: public BlockSolverBase
+  {
     public:
-
       static const int PoseDim = Traits::PoseDim;
       static const int LandmarkDim = Traits::LandmarkDim;
       typedef typename Traits::PoseMatrixType PoseMatrixType;
@@ -116,7 +120,7 @@ namespace g2o {
        * NOTE: The BlockSolver assumes exclusive access to the linear solver and will therefore free the pointer
        * in its destructor.
        */
-      BlockSolver(LinearSolverType* linearSolver);
+      BlockSolver(std::unique_ptr<LinearSolverType> linearSolver);
       ~BlockSolver();
 
       virtual bool init(SparseOptimizer* optmizer, bool online = false);
@@ -131,7 +135,7 @@ namespace g2o {
       virtual bool schur() { return _doSchur;}
       virtual void setSchur(bool s) { _doSchur = s;}
 
-      LinearSolver<PoseMatrixType>* linearSolver() const { return _linearSolver;}
+      LinearSolver<PoseMatrixType>& linearSolver() const { return *_linearSolver;}
 
       virtual void setWriteDebug(bool writeDebug);
       virtual bool writeDebug() const {return _linearSolver->writeDebug();}
@@ -146,17 +150,17 @@ namespace g2o {
 
       void deallocate();
 
-      SparseBlockMatrix<PoseMatrixType>* _Hpp;
-      SparseBlockMatrix<LandmarkMatrixType>* _Hll;
-      SparseBlockMatrix<PoseLandmarkMatrixType>* _Hpl;
+      std::unique_ptr<SparseBlockMatrix<PoseMatrixType>> _Hpp;
+      std::unique_ptr<SparseBlockMatrix<LandmarkMatrixType>> _Hll;
+      std::unique_ptr<SparseBlockMatrix<PoseLandmarkMatrixType>> _Hpl;
 
-      SparseBlockMatrix<PoseMatrixType>* _Hschur;
-      SparseBlockMatrixDiagonal<LandmarkMatrixType>* _DInvSchur;
+      std::unique_ptr<SparseBlockMatrix<PoseMatrixType>> _Hschur;
+      std::unique_ptr<SparseBlockMatrixDiagonal<LandmarkMatrixType>> _DInvSchur;
 
-      SparseBlockMatrixCCS<PoseLandmarkMatrixType>* _HplCCS;
-      SparseBlockMatrixCCS<PoseMatrixType>* _HschurTransposedCCS;
+      std::unique_ptr<SparseBlockMatrixCCS<PoseLandmarkMatrixType>> _HplCCS;
+      std::unique_ptr<SparseBlockMatrixCCS<PoseMatrixType>> _HschurTransposedCCS;
 
-      LinearSolver<PoseMatrixType>* _linearSolver;
+      std::unique_ptr<LinearSolverType> _linearSolver;
 
       std::vector<PoseVectorType, Eigen::aligned_allocator<PoseVectorType> > _diagonalBackupPose;
       std::vector<LandmarkVectorType, Eigen::aligned_allocator<LandmarkVectorType> > _diagonalBackupLandmark;
@@ -167,22 +171,28 @@ namespace g2o {
 
       bool _doSchur;
 
-      double* _coefficients;
-      double* _bschur;
+      std::unique_ptr<double[], aligned_deleter<double>> _coefficients;
+      std::unique_ptr<double[], aligned_deleter<double>> _bschur;
 
       int _numPoses, _numLandmarks;
       int _sizePoses, _sizeLandmarks;
   };
 
 
+  template<int p, int l>
+  using BlockSolverPL = BlockSolver< BlockSolverTraits<p, l> >;
+
   //variable size solver
-  typedef BlockSolver< BlockSolverTraits<Eigen::Dynamic, Eigen::Dynamic> > BlockSolverX;
+  using BlockSolverX = BlockSolverPL<Eigen::Dynamic, Eigen::Dynamic>;
+
   // solver for BA/3D SLAM
-  typedef BlockSolver< BlockSolverTraits<6, 3> > BlockSolver_6_3;  
+  using BlockSolver_6_3 = BlockSolverPL<6, 3>;
+
   // solver fo BA with scale
-  typedef BlockSolver< BlockSolverTraits<7, 3> > BlockSolver_7_3;  
+  using BlockSolver_7_3 = BlockSolverPL<7, 3>;
+
   // 2Dof landmarks 3Dof poses
-  typedef BlockSolver< BlockSolverTraits<3, 2> > BlockSolver_3_2;
+  using BlockSolver_3_2 = BlockSolverPL<3, 2>;
 
 } // end namespace