disable tbb when num_threads == 1

koide3 · Sep 22, 2024 · 178defd · 178defd
1 parent a63ea95
commit 178defd
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Showing 5 changed files with 7 additions and 7 deletions.
diff --git a/include/gtsam_points/factors/impl/integrated_ct_gicp_factor_impl.hpp b/include/gtsam_points/factors/impl/integrated_ct_gicp_factor_impl.hpp
@@ -77,7 +77,7 @@ double IntegratedCT_GICPFactor_<TargetFrame, SourceFrame>::error(const gtsam::Va
     return error;
   };
 
-  if (is_omp_default() || num_threads == 1) {
+  if (is_omp_default() || this->num_threads == 1) {
     return scan_matching_reduce_omp(perpoint_task, frame::size(*this->source), this->num_threads, nullptr, nullptr, nullptr, nullptr, nullptr);
   } else {
     return scan_matching_reduce_tbb(perpoint_task, frame::size(*this->source), nullptr, nullptr, nullptr, nullptr, nullptr);
@@ -142,7 +142,7 @@ boost::shared_ptr<gtsam::GaussianFactor> IntegratedCT_GICPFactor_<TargetFrame, S
   gtsam::Vector6 b_0;
   gtsam::Vector6 b_1;
 
-  if (is_omp_default() || num_threads == 1) {
+  if (is_omp_default() || this->num_threads == 1) {
     error = scan_matching_reduce_omp(perpoint_task, frame::size(*this->source), this->num_threads, &H_00, &H_11, &H_01, &b_0, &b_1);
   } else {
     error = scan_matching_reduce_tbb(perpoint_task, frame::size(*this->source), &H_00, &H_11, &H_01, &b_0, &b_1);
@@ -184,7 +184,7 @@ void IntegratedCT_GICPFactor_<TargetFrame, SourceFrame>::update_correspondences(
     }
   };
 
-  if (is_omp_default() || num_threads == 1) {
+  if (is_omp_default() || this->num_threads == 1) {
 #pragma omp parallel for num_threads(this->num_threads) schedule(guided, 8)
     for (int i = 0; i < frame::size(*this->source); i++) {
       perpoint_task(i);

diff --git a/src/gtsam_points/util/covariance_estimation.cpp b/src/gtsam_points/util/covariance_estimation.cpp
@@ -54,7 +54,7 @@ std::vector<Eigen::Matrix4d> estimate_covariances(const Eigen::Vector4d* points,
     }
   };
 
-  if (is_omp_default() || num_threads == 1) {
+  if (is_omp_default() || params.num_threads == 1) {
 #pragma omp parallel for num_threads(params.num_threads) schedule(guided, 8)
     for (int i = 0; i < num_points; i++) {
       perpoint_task(i);

diff --git a/src/test/test_colored_gicp.cpp b/src/test/test_colored_gicp.cpp
@@ -117,7 +117,7 @@ TEST_P(ColoredGICPTest, AlignmentTest) {
   const auto param = GetParam();
   const std::string method = std::get<0>(param);
   const std::string parallelism = std::get<1>(param);
-  const int num_threads = parallelism == "OMP" ? 2 : 1;
+  const int num_threads = parallelism == "NONE" ? 1 : 2;
 
   if (parallelism == "TBB") {
     gtsam_points::set_tbb_as_default();

diff --git a/src/test/test_continuous_time.cpp b/src/test/test_continuous_time.cpp
@@ -83,7 +83,7 @@ TEST_P(ContinuousTimeFactorTest, AlignmentTest) {
   const auto param = GetParam();
   const std::string method = std::get<0>(param);
   const std::string parallelism = std::get<1>(param);
-  const int num_threads = parallelism == "OMP" ? 2 : 1;
+  const int num_threads = parallelism == "NONE" ? 1 : 2;
 
   if (parallelism == "TBB") {
     gtsam_points::set_tbb_as_default();

diff --git a/src/test/test_loam_factors.cpp b/src/test/test_loam_factors.cpp
@@ -80,7 +80,7 @@ class LOAMFactorTest : public LOAMTestBase, public testing::WithParamInterface<s
     const auto param = GetParam();
     const std::string method = std::get<0>(param);
     const std::string parallelism = std::get<1>(param);
-    const int num_threads = parallelism == "OMP" ? 2 : 1;
+    const int num_threads = parallelism == "NONE" ? 1 : 2;
 
     gtsam::NonlinearFactor::shared_ptr factor;
     if (method == "LOAM") {