[ABSL] Use flat_hash_map instead of unordered_map. (#1439)

cartographer-project · Oct 8, 2018 · bdb6f2d · bdb6f2d
1 parent 8285673
commit bdb6f2d
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Showing 16 changed files with 33 additions and 29 deletions.
diff --git a/bazel/repositories.bzl b/bazel/repositories.bzl
@@ -256,9 +256,9 @@ def cartographer_repositories():
 
     _maybe(native.http_archive,
         name = "com_google_absl",
-        sha256 = "387cf016ab1ab8530d1cea8975276ce8d8bff355133776129bdc400d05519eb6",
-        strip_prefix = "abseil-cpp-44aa275286baf97fc13529aca547a88b180beb08",
-        urls = ["https://github.com/abseil/abseil-cpp/archive/44aa275286baf97fc13529aca547a88b180beb08.tar.gz"],
+        sha256 = "c8ba586a9ab12bc4a67bb419fc0d2146200942b072bac95f50490f977b7fb04f",
+        strip_prefix = "abseil-cpp-5441bbe1db5d0f2ca24b5b60166367b0966790af",
+        urls = ["https://github.com/abseil/abseil-cpp/archive/5441bbe1db5d0f2ca24b5b60166367b0966790af.tar.gz"],
     )
 
     # TODO(rodrigoq): remove these binds once grpc#14140 has been merged, as well

diff --git a/cartographer/BUILD.bazel b/cartographer/BUILD.bazel
@@ -97,6 +97,7 @@ cc_library(
         "@boost//:iostreams",
         "@com_google_absl//absl/base",
         "@com_google_absl//absl/strings",
+        "@com_google_absl//absl/container:flat_hash_map",
         "@com_google_absl//absl/synchronization",
         "@com_google_absl//absl/types:optional",
         "@com_google_glog//:glog",

diff --git a/cartographer/cloud/internal/handlers/add_sensor_data_batch_handler.h b/cartographer/cloud/internal/handlers/add_sensor_data_batch_handler.h
@@ -20,6 +20,7 @@
 #include <memory>
 #include <string>
 
+#include "absl/container/flat_hash_map.h"
 #include "async_grpc/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
 #include "cartographer/metrics/counter.h"
@@ -59,7 +60,7 @@ class AddSensorDataBatchHandler
       counter_metrics_family_;
 
   // Holds individual metrics for each client.
-  std::unordered_map<std::string, std::unique_ptr<ClientMetrics>>
+  absl::flat_hash_map<std::string, std::unique_ptr<ClientMetrics>>
       client_metric_map_;
 };
 

diff --git a/cartographer/cloud/metrics/prometheus/family_factory.cc b/cartographer/cloud/metrics/prometheus/family_factory.cc
@@ -14,10 +14,9 @@
  * limitations under the License.
  */
 
-#include <unordered_map>
-
 #include "cartographer/cloud/metrics/prometheus/family_factory.h"
 
+#include "absl/container/flat_hash_map.h"
 #include "absl/memory/memory.h"
 #include "prometheus/counter.h"
 #include "prometheus/family.h"
@@ -76,7 +75,7 @@ class CounterFamily
  private:
   ::prometheus::Family<::prometheus::Counter>* prometheus_;
   std::mutex wrappers_mutex_;
-  std::unordered_map<::prometheus::Counter*, std::unique_ptr<Counter>>
+  absl::flat_hash_map<::prometheus::Counter*, std::unique_ptr<Counter>>
       wrappers_;
 };
 
@@ -108,7 +107,7 @@ class GaugeFamily
  private:
   ::prometheus::Family<::prometheus::Gauge>* prometheus_;
   std::mutex wrappers_mutex_;
-  std::unordered_map<::prometheus::Gauge*, std::unique_ptr<Gauge>> wrappers_;
+  absl::flat_hash_map<::prometheus::Gauge*, std::unique_ptr<Gauge>> wrappers_;
 };
 
 class Histogram : public ::cartographer::metrics::Histogram {
@@ -137,7 +136,7 @@ class HistogramFamily : public ::cartographer::metrics::Family<
  private:
   ::prometheus::Family<::prometheus::Histogram>* prometheus_;
   std::mutex wrappers_mutex_;
-  std::unordered_map<::prometheus::Histogram*, std::unique_ptr<Histogram>>
+  absl::flat_hash_map<::prometheus::Histogram*, std::unique_ptr<Histogram>>
       wrappers_;
   const BucketBoundaries boundaries_;
 };

diff --git a/cartographer/common/thread_pool.h b/cartographer/common/thread_pool.h
@@ -21,9 +21,9 @@
 #include <functional>
 #include <memory>
 #include <thread>
-#include <unordered_map>
 #include <vector>
 
+#include "absl/container/flat_hash_map.h"
 #include "absl/synchronization/mutex.h"
 #include "cartographer/common/task.h"
 
@@ -76,7 +76,7 @@ class ThreadPool : public ThreadPoolInterface {
   bool running_ GUARDED_BY(mutex_) = true;
   std::vector<std::thread> pool_ GUARDED_BY(mutex_);
   std::deque<std::shared_ptr<Task>> task_queue_ GUARDED_BY(mutex_);
-  std::unordered_map<Task*, std::shared_ptr<Task>> tasks_not_ready_
+  absl::flat_hash_map<Task*, std::shared_ptr<Task>> tasks_not_ready_
       GUARDED_BY(mutex_);
 };
 

diff --git a/cartographer/io/points_processor_pipeline_builder.h b/cartographer/io/points_processor_pipeline_builder.h
@@ -18,9 +18,9 @@
 #define CARTOGRAPHER_IO_POINTS_PROCESSOR_PIPELINE_BUILDER_H_
 
 #include <string>
-#include <unordered_map>
 #include <vector>
 
+#include "absl/container/flat_hash_map.h"
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/io/file_writer.h"
 #include "cartographer/io/points_processor.h"
@@ -55,7 +55,7 @@ class PointsProcessorPipelineBuilder {
       common::LuaParameterDictionary* dictionary) const;
 
  private:
-  std::unordered_map<std::string, FactoryFunction> factories_;
+  absl::flat_hash_map<std::string, FactoryFunction> factories_;
 };
 
 // Register all 'PointsProcessor' that ship with Cartographer with this

diff --git a/cartographer/io/serialization_format_migration.cc b/cartographer/io/serialization_format_migration.cc
@@ -16,9 +16,9 @@
 
 #include "cartographer/io/serialization_format_migration.h"
 
-#include <unordered_map>
 #include <vector>
 
+#include "absl/container/flat_hash_map.h"
 #include "cartographer/mapping/3d/submap_3d.h"
 #include "cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.h"
 #include "cartographer/mapping/probability_values.h"
@@ -32,7 +32,7 @@ namespace io {
 namespace {
 
 using mapping::proto::SerializedData;
-using ProtoMap = std::unordered_map<int, std::vector<SerializedData>>;
+using ProtoMap = absl::flat_hash_map<int, std::vector<SerializedData>>;
 
 bool ReadPoseGraph(cartographer::io::ProtoStreamReaderInterface* const input,
                    ProtoMap* proto_map) {

diff --git a/cartographer/mapping/internal/2d/pose_graph_2d.h b/cartographer/mapping/internal/2d/pose_graph_2d.h
@@ -23,11 +23,11 @@
 #include <map>
 #include <memory>
 #include <set>
-#include <unordered_map>
 #include <vector>
 
 #include "Eigen/Core"
 #include "Eigen/Geometry"
+#include "absl/container/flat_hash_map.h"
 #include "absl/synchronization/mutex.h"
 #include "cartographer/common/fixed_ratio_sampler.h"
 #include "cartographer/common/thread_pool.h"
@@ -246,7 +246,7 @@ class PoseGraph2D : public PoseGraph {
   std::unique_ptr<WorkQueue> work_queue_ GUARDED_BY(work_queue_mutex_);
 
   // We globally localize a fraction of the nodes from each trajectory.
-  std::unordered_map<int, std::unique_ptr<common::FixedRatioSampler>>
+  absl::flat_hash_map<int, std::unique_ptr<common::FixedRatioSampler>>
       global_localization_samplers_ GUARDED_BY(mutex_);
 
   // Number of nodes added since last loop closure.

diff --git a/cartographer/mapping/internal/3d/pose_graph_3d.h b/cartographer/mapping/internal/3d/pose_graph_3d.h
@@ -23,11 +23,11 @@
 #include <map>
 #include <memory>
 #include <set>
-#include <unordered_map>
 #include <vector>
 
 #include "Eigen/Core"
 #include "Eigen/Geometry"
+#include "absl/container/flat_hash_map.h"
 #include "absl/synchronization/mutex.h"
 #include "cartographer/common/fixed_ratio_sampler.h"
 #include "cartographer/common/thread_pool.h"
@@ -248,7 +248,7 @@ class PoseGraph3D : public PoseGraph {
   std::unique_ptr<WorkQueue> work_queue_ GUARDED_BY(work_queue_mutex_);
 
   // We globally localize a fraction of the nodes from each trajectory.
-  std::unordered_map<int, std::unique_ptr<common::FixedRatioSampler>>
+  absl::flat_hash_map<int, std::unique_ptr<common::FixedRatioSampler>>
       global_localization_samplers_ GUARDED_BY(mutex_);
 
   // Number of nodes added since last loop closure.

diff --git a/cartographer/mapping/internal/connected_components.cc b/cartographer/mapping/internal/connected_components.cc
@@ -77,7 +77,7 @@ bool ConnectedComponents::TransitivelyConnected(const int trajectory_id_a,
 
 std::vector<std::vector<int>> ConnectedComponents::Components() {
   // Map from cluster exemplar -> growing cluster.
-  std::unordered_map<int, std::vector<int>> map;
+  absl::flat_hash_map<int, std::vector<int>> map;
   absl::MutexLock locker(&lock_);
   for (const auto& trajectory_id_entry : forest_) {
     map[FindSet(trajectory_id_entry.first)].push_back(

diff --git a/cartographer/mapping/internal/connected_components.h b/cartographer/mapping/internal/connected_components.h
@@ -18,8 +18,8 @@
 #define CARTOGRAPHER_MAPPING_INTERNAL_CONNECTED_COMPONENTS_H_
 
 #include <map>
-#include <unordered_map>
 
+#include "absl/container/flat_hash_map.h"
 #include "absl/synchronization/mutex.h"
 #include "cartographer/mapping/proto/connected_components.pb.h"
 #include "cartographer/mapping/submaps.h"

diff --git a/cartographer/mapping/pose_graph.h b/cartographer/mapping/pose_graph.h
@@ -19,10 +19,10 @@
 
 #include <memory>
 #include <set>
-#include <unordered_map>
 #include <utility>
 #include <vector>
 
+#include "absl/container/flat_hash_map.h"
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/mapping/id.h"
 #include "cartographer/mapping/pose_graph_interface.h"

diff --git a/cartographer/sensor/internal/collator.h b/cartographer/sensor/internal/collator.h
@@ -19,10 +19,10 @@
 
 #include <functional>
 #include <memory>
-#include <unordered_map>
 #include <unordered_set>
 #include <vector>
 
+#include "absl/container/flat_hash_map.h"
 #include "cartographer/sensor/collator_interface.h"
 #include "cartographer/sensor/data.h"
 #include "cartographer/sensor/internal/ordered_multi_queue.h"
@@ -54,7 +54,7 @@ class Collator : public CollatorInterface {
   OrderedMultiQueue queue_;
 
   // Map of trajectory ID to all associated QueueKeys.
-  std::unordered_map<int, std::vector<QueueKey>> queue_keys_;
+  absl::flat_hash_map<int, std::vector<QueueKey>> queue_keys_;
 };
 
 }  // namespace sensor

diff --git a/cartographer/sensor/internal/ordered_multi_queue.h b/cartographer/sensor/internal/ordered_multi_queue.h
@@ -51,6 +51,8 @@ class OrderedMultiQueue {
   using Callback = std::function<void(std::unique_ptr<Data>)>;
 
   OrderedMultiQueue();
+  OrderedMultiQueue(OrderedMultiQueue&& queue) = default;
+
   ~OrderedMultiQueue();
 
   // Adds a new queue with key 'queue_key' which must not already exist.

diff --git a/cartographer/sensor/internal/trajectory_collator.h b/cartographer/sensor/internal/trajectory_collator.h
@@ -18,9 +18,9 @@
 #define CARTOGRAPHER_SENSOR_INTERNAL_TRAJECTORY_COLLATOR_H_
 
 #include <memory>
-#include <unordered_map>
 #include <vector>
 
+#include "absl/container/flat_hash_map.h"
 #include "cartographer/metrics/counter.h"
 #include "cartographer/metrics/family_factory.h"
 #include "cartographer/sensor/collator_interface.h"
@@ -64,12 +64,12 @@ class TrajectoryCollator : public CollatorInterface {
       collator_metrics_family_;
 
   // Holds individual counters for each trajectory/sensor pair.
-  std::unordered_map<std::string, metrics::Counter*> metrics_map_;
+  absl::flat_hash_map<std::string, metrics::Counter*> metrics_map_;
 
-  std::unordered_map<int, OrderedMultiQueue> trajectory_to_queue_;
+  absl::flat_hash_map<int, OrderedMultiQueue> trajectory_to_queue_;
 
   // Map of trajectory ID to all associated QueueKeys.
-  std::unordered_map<int, std::vector<QueueKey>> trajectory_to_queue_keys_;
+  absl::flat_hash_map<int, std::vector<QueueKey>> trajectory_to_queue_keys_;
 };
 
 }  // namespace sensor

diff --git a/cmake/modules/FindAbseil.cmake b/cmake/modules/FindAbseil.cmake
@@ -33,6 +33,7 @@ if(NOT TARGET standalone_absl)
     "${ABSEIL_PROJECT_BUILD_DIR}/absl/strings/${prefix}str_format_internal${suffix}"
     "${ABSEIL_PROJECT_BUILD_DIR}/absl/strings/${prefix}str_format_extension_internal${suffix}"
     "${ABSEIL_PROJECT_BUILD_DIR}/absl/strings/${prefix}absl_str_format${suffix}"
+    "${ABSEIL_PROJECT_BUILD_DIR}/absl/hash/${prefix}absl_hash${suffix}"
     "${ABSEIL_PROJECT_BUILD_DIR}/absl/algorithm/${prefix}absl_algorithm${suffix}"
     "${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_base${suffix}"
     "${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_dynamic_annotations${suffix}"
@@ -63,7 +64,7 @@ if(NOT TARGET standalone_absl)
   ExternalProject_Add(${ABSEIL_PROJECT_NAME}
     PREFIX ${ABSEIL_PROJECT_NAME}
     GIT_REPOSITORY   https://github.com/abseil/abseil-cpp.git
-    GIT_TAG          44aa275286baf97fc13529aca547a88b180beb08
+    GIT_TAG          5441bbe1db5d0f2ca24b5b60166367b0966790af
     INSTALL_COMMAND  ""
     BUILD_COMMAND    ${CMAKE_COMMAND} --build "${ABSEIL_PROJECT_BUILD_DIR}"
     CMAKE_CACHE_ARGS "-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=ON;-DBUILD_TESTING:BOOL=OFF;-DCMAKE_BUILD_TYPE:STRING=Release"