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Move from std::lock_guard<std::mutex> to std::scoped_lock #361

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Move from std::lock_guard<std::mutex> to std::scoped_lock #361

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4 changes: 2 additions & 2 deletions .../lidar_odometry_step_1/drag_folder_with_mandeye_data_and_drop_here-precision_forestry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -363,8 +363,8 @@ void find_best_stretch(
// }
}
}
std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);

std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);

update_rgd(rgd_params, my_buckets, points_global2, trajectory_stretched[0].translation());

Expand Down
11 changes: 5 additions & 6 deletions apps/lidar_odometry_step_1/lidar_odometry_gui.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -392,8 +392,7 @@ void find_best_stretch(
// }
}
}
std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);

update_rgd(rgd_params, my_buckets, points_global2, trajectory_stretched[0].translation());

Expand Down Expand Up @@ -1819,7 +1818,7 @@ void display()

if (show_reference_buckets_indoor)
{
std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
std::scoped_lock lock(params.mutex_buckets_indoor);
glColor3f(1, 0, 0);
glBegin(GL_POINTS);
for (const auto& b : params.buckets_indoor)
Expand All @@ -1829,7 +1828,7 @@ void display()

if (show_reference_buckets_outdoor)
{
std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
std::scoped_lock lock2(params.mutex_buckets_outdoor);
glColor3f(0, 0, 1);
glBegin(GL_POINTS);
for (const auto& b : params.buckets_outdoor)
Expand All @@ -1839,14 +1838,14 @@ void display()

if (show_covs_indoor)
{
std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
std::scoped_lock lock(params.mutex_buckets_indoor);
for (const auto& b : params.buckets_indoor)
draw_ellipse(b.second.cov, b.second.mean, Eigen::Vector3f(1.0f, 0.0f, 0.0f), 3);
}

if (show_covs_outdoor)
{
std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
std::scoped_lock lock2(params.mutex_buckets_outdoor);
for (const auto& b : params.buckets_outdoor)
draw_ellipse(b.second.cov, b.second.mean, Eigen::Vector3f(0.0f, 0.0f, 1.0f), 3);
}
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24 changes: 8 additions & 16 deletions apps/lidar_odometry_step_1/lidar_odometry_utils_optimizers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2258,8 +2258,7 @@ bool compute_step_2(
// params.buckets_outdoor.clear();
if (params.ablation_study_use_hierarchical_rgd)
{
std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);

update_rgd_hierarchy(
params.in_out_params_indoor,
Expand All @@ -2272,8 +2271,7 @@ bool compute_step_2(
}
else
{
std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);

update_rgd(params.in_out_params_indoor, params.buckets_indoor, pp, params.m_g.translation(), &lookup_stats.indoor_lookups);
}
Expand Down Expand Up @@ -2350,8 +2348,7 @@ bool compute_step_2(

if (params.use_robust_and_accurate_lidar_odometry)
{
std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);

auto tr = worker_data[i].intermediate_trajectory;
auto trmm = worker_data[i].intermediate_trajectory_motion_model;
Expand Down Expand Up @@ -2488,8 +2485,7 @@ bool compute_step_2(

for (int iter = 0; iter < params.nr_iter; iter++)
{
std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);

iter_end = iter;
delta = 100000.0;
Expand Down Expand Up @@ -2667,8 +2663,7 @@ bool compute_step_2(

if (params.ablation_study_use_hierarchical_rgd)
{
std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);

update_rgd_hierarchy(
params.in_out_params_indoor,
Expand All @@ -2681,8 +2676,7 @@ bool compute_step_2(
}
else
{
std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);

update_rgd(
params.in_out_params_indoor,
Expand All @@ -2705,8 +2699,7 @@ bool compute_step_2(
}
if (params.ablation_study_use_hierarchical_rgd)
{
std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);

update_rgd_hierarchy(
params.in_out_params_indoor,
Expand All @@ -2719,8 +2712,7 @@ bool compute_step_2(
}
else
{
std::lock_guard<std::mutex> lock(params.mutex_buckets_indoor);
std::lock_guard<std::mutex> lock2(params.mutex_buckets_outdoor);
std::scoped_lock lock(params.mutex_buckets_indoor, params.mutex_buckets_outdoor);

update_rgd(
params.in_out_params_indoor,
Expand Down
2 changes: 1 addition & 1 deletion apps/manual_color/manual_color.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1391,7 +1391,7 @@ void mouse(int glut_button, int state, int x, int y)
[&](const mandeye::PointRGB& p)
{
double D = GetDistanceToRay(p.point, SystemData::clickedRay);
std::lock_guard<std::mutex> guard(mtx);
std::scoped_lock guard(mtx);
if (D < distanceIndexPair.first)
{
// Assume that SystemData::point is an array-like type implementation, naked pointer arithmetic ahead:
Expand Down
6 changes: 3 additions & 3 deletions apps/quick_start_demo/quick_start_demo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -282,7 +282,7 @@ void display()
}*/

{
std::lock_guard<std::mutex> lock(renderPtrLock);
std::scoped_lock lock(renderPtrLock);

glLineWidth(2);
glColor3f(0.0, 1.0, 0.0);
Expand Down Expand Up @@ -554,7 +554,7 @@ bool compute_step_2_demo(std::vector<WorkerData> &worker_data, LidarOdometryPara
std::cout << "optimizing worker_data [" << i + 1 << "] of " << worker_data.size() << " acc_distance: " << acc_distance << " elapsed time: " << elapsed_seconds1.count() << std::endl;

{
std::lock_guard<std::mutex> lock(renderPtrLock);
std::scoped_lock lock(renderPtrLock);

for (int k = 0; k < worker_data[i].intermediate_points.size(); k++)
{
Expand Down Expand Up @@ -1104,7 +1104,7 @@ int main(int argc, char *argv[])
{
compute_step_2_demo(worker_data, params, ts_failure);
{
std::lock_guard<std::mutex> lock(renderPtrLock);
std::scoped_lock lock(renderPtrLock);

std::vector<Eigen::Vector3d> global_pointcloud;
std::vector<unsigned short> intensity;
Expand Down