Make omp naming and functionality consistent.

benchmarks/filters/radius_outlier_removal.cpp

@@ -15,6 +15,7 @@ BM_RadiusOutlierRemoval(benchmark::State& state, const std::string& file)
   ror.setInputCloud(cloud);
   ror.setRadiusSearch(0.02);
   ror.setMinNeighborsInRadius(14);
+  ror.setNumberOfThreads(1);
 
   pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_voxelized(
       new pcl::PointCloud<pcl::PointXYZ>);

common/include/pcl/impl/pcl_base.hpp

@@ -167,6 +167,13 @@ pcl::PCLBase<PointT>::initCompute ()
     for (auto i = indices_size; i < indices_->size (); ++i) { (*indices_)[i] = i; }
   }
 
+  // Set the number of threads
+  #ifdef _OPENMP
+    num_threads_ = num_threads_ != 0 ? num_threads_ : omp_get_num_procs();
+  #else
+    num_threads_ = 1;
+  #endif
+
   return (true);
 }
 

common/include/pcl/pcl_base.h

@@ -155,6 +155,11 @@ namespace pcl
       /** \brief If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. */
       bool fake_indices_;
 
+      /**
+       * @brief Number of threads used if the algorithm supports parallelization
+       */
+      unsigned int num_threads_{0};
+
       /** \brief This method should get called before starting the actual computation.
         *
         * Internally, initCompute() does the following:
@@ -233,6 +238,7 @@ namespace pcl
       /** \brief If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. */
       bool fake_indices_;
 
+
       /** \brief The size of each individual field. */
       std::vector<uindex_t> field_sizes_;
 
@@ -242,6 +248,11 @@ namespace pcl
       /** \brief The desired x-y-z field names. */
       std::string x_field_name_, y_field_name_, z_field_name_;
 
+      /**
+       * @brief Number of threads used during filtering
+       */
+      unsigned int num_threads_{0};
+
       bool initCompute ();
       bool deinitCompute ();
     public:

common/src/pcl_base.cpp

@@ -130,6 +130,13 @@ pcl::PCLBase<pcl::PCLPointCloud2>::initCompute ()
       std::iota(indices_->begin () + indices_size, indices_->end (), indices_size);
   }
 
+  // Set the number of threads
+  #ifdef _OPENMP
+    num_threads_ = num_threads_ != 0 ? num_threads_ : omp_get_num_procs();
+  #else
+    num_threads_ = 1;
+  #endif
+
   return (true);
 }
 

features/include/pcl/features/fpfh_omp.h

@@ -92,20 +92,23 @@ namespace pcl
       using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
 
       /** \brief Initialize the scheduler and set the number of threads to use.
-        * \param[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)
+        * \param[in] num_threads the number of hardware threads to use (0 sets the value back to automatic)
         */
-      FPFHEstimationOMP (unsigned int nr_threads = 0)
+      FPFHEstimationOMP (unsigned int num_threads = 0)
       {
         feature_name_ = "FPFHEstimationOMP";
 
-        setNumberOfThreads(nr_threads);
+        setNumberOfThreads(num_threads);
       }
 
       /** \brief Initialize the scheduler and set the number of threads to use.
-        * \param[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)
+        * \param[in] num_threads the number of hardware threads to use (0 sets the value back to automatic)
         */
       void
-      setNumberOfThreads (unsigned int nr_threads = 0);
+      setNumberOfThreads (unsigned int num_threads = 0);
+
+    protected:
+      using PCLBase<PointInT>::num_threads_;
 
     private:
       /** \brief Estimate the Fast Point Feature Histograms (FPFH) descriptors at a set of points given by
@@ -119,9 +122,6 @@ namespace pcl
     public:
       /** \brief The number of subdivisions for each angular feature interval. */
       int nr_bins_f1_{11}, nr_bins_f2_{11}, nr_bins_f3_{11};
-    private:
-      /** \brief The number of threads the scheduler should use. */
-      unsigned int threads_;
   };
 }
 

features/include/pcl/features/impl/fpfh_omp.hpp

@@ -49,16 +49,16 @@
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT, typename PointNT, typename PointOutT> void
-pcl::FPFHEstimationOMP<PointInT, PointNT, PointOutT>::setNumberOfThreads (unsigned int nr_threads)
+pcl::FPFHEstimationOMP<PointInT, PointNT, PointOutT>::setNumberOfThreads (unsigned int num_threads)
 {
-  if (nr_threads == 0)
 #ifdef _OPENMP
-    threads_ = omp_get_num_procs();
+  num_threads_ = num_threads != 0 ? num_threads : omp_get_num_procs();
 #else
-    threads_ = 1;
+  if (num_threads_ != 1) {
+    PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");
+    num_threads_ = 1;
+  }
 #endif
-  else
-    threads_ = nr_threads;
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
@@ -112,7 +112,7 @@ pcl::FPFHEstimationOMP<PointInT, PointNT, PointOutT>::computeFeature (PointCloud
   default(none) \
   shared(spfh_hist_lookup, spfh_indices_vec) \
   firstprivate(nn_indices, nn_dists) \
-  num_threads(threads_)
+  num_threads(num_threads_)
   for (std::ptrdiff_t i = 0; i < static_cast<std::ptrdiff_t> (spfh_indices_vec.size ()); ++i)
   {
     // Get the next point index
@@ -141,7 +141,7 @@ pcl::FPFHEstimationOMP<PointInT, PointNT, PointOutT>::computeFeature (PointCloud
   default(none) \
   shared(nr_bins, output, spfh_hist_lookup) \
   firstprivate(nn_dists, nn_indices) \
-  num_threads(threads_)
+  num_threads(num_threads_)
   for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)
   {
     // Find the indices of point idx's neighbors...

features/include/pcl/features/impl/intensity_gradient.hpp

@@ -149,21 +149,14 @@ pcl::IntensityGradientEstimation<PointInT, PointNT, PointOutT, IntensitySelector
   std::vector<float> nn_dists (k_);
   output.is_dense = true;
 
-#ifdef _OPENMP
-  if (threads_ == 0) {
-    threads_ = omp_get_num_procs();
-    PCL_DEBUG ("[pcl::IntensityGradientEstimation::computeFeature] Setting number of threads to %u.\n", threads_);
-  }
-#endif // _OPENMP
-
   // If the data is dense, we don't need to check for NaN
   if (surface_->is_dense)
   {
 #pragma omp parallel for \
   default(none) \
   shared(output) \
   firstprivate(nn_indices, nn_dists) \
-  num_threads(threads_)
+  num_threads(num_threads_)
     // Iterating over the entire index vector
     for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)
     {
@@ -203,7 +196,7 @@ pcl::IntensityGradientEstimation<PointInT, PointNT, PointOutT, IntensitySelector
   default(none) \
   shared(output) \
   firstprivate(nn_indices, nn_dists) \
-  num_threads(threads_)
+  num_threads(num_threads_)
     // Iterating over the entire index vector
     for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)
     {

features/include/pcl/features/impl/normal_3d_omp.hpp

@@ -45,19 +45,16 @@
 
 ///////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT, typename PointOutT> void
-pcl::NormalEstimationOMP<PointInT, PointOutT>::setNumberOfThreads (unsigned int nr_threads)
+pcl::NormalEstimationOMP<PointInT, PointOutT>::setNumberOfThreads (unsigned int num_threads)
 {
 #ifdef _OPENMP
-  if (nr_threads == 0)
-    threads_ = omp_get_num_procs();
-  else
-    threads_ = nr_threads;
-  PCL_DEBUG ("[pcl::NormalEstimationOMP::setNumberOfThreads] Setting number of threads to %u.\n", threads_);
+  num_threads_ = num_threads != 0 ? num_threads : omp_get_num_procs();
 #else
-  threads_ = 1;
-  if (nr_threads != 1)
-    PCL_WARN ("[pcl::NormalEstimationOMP::setNumberOfThreads] Parallelization is requested, but OpenMP is not available! Continuing without parallelization.\n");
-#endif // _OPENMP
+  if (num_threads_ != 1) {
+    PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");
+    num_threads_ = 1;
+  }
+#endif
 }
 
 ///////////////////////////////////////////////////////////////////////////////////////////
@@ -77,7 +74,7 @@ pcl::NormalEstimationOMP<PointInT, PointOutT>::computeFeature (PointCloudOut &ou
   default(none) \
   shared(output) \
   firstprivate(nn_indices, nn_dists) \
-  num_threads(threads_) \
+  num_threads(num_threads_) \
   schedule(dynamic, chunk_size_)
     // Iterating over the entire index vector
     for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)
@@ -107,7 +104,7 @@ pcl::NormalEstimationOMP<PointInT, PointOutT>::computeFeature (PointCloudOut &ou
   default(none) \
   shared(output) \
   firstprivate(nn_indices, nn_dists) \
-  num_threads(threads_) \
+  num_threads(num_threads_) \
   schedule(dynamic, chunk_size_)
     // Iterating over the entire index vector
     for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)

features/include/pcl/features/impl/principal_curvatures.hpp

@@ -47,19 +47,16 @@
 
 ///////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT, typename PointNT, typename PointOutT> void
-pcl::PrincipalCurvaturesEstimation<PointInT, PointNT, PointOutT>::setNumberOfThreads (unsigned int nr_threads)
+pcl::PrincipalCurvaturesEstimation<PointInT, PointNT, PointOutT>::setNumberOfThreads (unsigned int num_threads)
 {
 #ifdef _OPENMP
-  if (nr_threads == 0)
-    threads_ = omp_get_num_procs();
-  else
-    threads_ = nr_threads;
-  PCL_DEBUG ("[pcl::PrincipalCurvaturesEstimation::setNumberOfThreads] Setting number of threads to %u.\n", threads_);
+  num_threads_ = num_threads != 0 ? num_threads : omp_get_num_procs();
 #else
-  threads_ = 1;
-  if (nr_threads != 1)
-    PCL_WARN ("[pcl::PrincipalCurvaturesEstimation::setNumberOfThreads] Parallelization is requested, but OpenMP is not available! Continuing without parallelization.\n");
-#endif // _OPENMP
+  if (num_threads_ != 1) {
+    PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");
+    num_threads_ = 1;
+  }
+#endif
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
@@ -142,7 +139,7 @@ pcl::PrincipalCurvaturesEstimation<PointInT, PointNT, PointOutT>::computeFeature
   default(none) \
   shared(output) \
   firstprivate(nn_indices, nn_dists) \
-  num_threads(threads_) \
+  num_threads(num_threads_) \
   schedule(dynamic, chunk_size_)
     // Iterating over the entire index vector
     for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)
@@ -167,7 +164,7 @@ pcl::PrincipalCurvaturesEstimation<PointInT, PointNT, PointOutT>::computeFeature
   default(none) \
   shared(output) \
   firstprivate(nn_indices, nn_dists) \
-  num_threads(threads_) \
+  num_threads(num_threads_) \
   schedule(dynamic, chunk_size_)
     // Iterating over the entire index vector
     for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)

features/include/pcl/features/impl/shot_lrf_omp.hpp

@@ -45,16 +45,16 @@
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template<typename PointInT, typename PointOutT> void
-pcl::SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT>::setNumberOfThreads (unsigned int nr_threads)
+pcl::SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT>::setNumberOfThreads (unsigned int num_threads)
 {
-  if (nr_threads == 0)
 #ifdef _OPENMP
-    threads_ = omp_get_num_procs();
+  num_threads_ = num_threads != 0 ? num_threads : omp_get_num_procs();
 #else
-    threads_ = 1;
+  if (num_threads_ != 1) {
+    PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");
+    num_threads_ = 1;
+  }
 #endif
-  else
-    threads_ = nr_threads;
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
@@ -74,7 +74,7 @@ pcl::SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT>::computeFeature (
 #pragma omp parallel for \
   default(none) \
   shared(output) \
-  num_threads(threads_) \
+  num_threads(num_threads_) \
   schedule(dynamic, 64)
   for (std::ptrdiff_t i = 0; i < static_cast<std::ptrdiff_t> (indices_->size ()); ++i)
   {

features/include/pcl/features/impl/shot_omp.hpp

@@ -69,7 +69,7 @@ pcl::SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::initCompute ()
   lrf_estimator->setRadiusSearch ((lrf_radius_ > 0 ? lrf_radius_ : search_radius_));
   lrf_estimator->setInputCloud (input_);
   lrf_estimator->setIndices (indices_);
-  lrf_estimator->setNumberOfThreads(threads_);
+  lrf_estimator->setNumberOfThreads(num_threads_);
 
   if (!fake_surface_)
     lrf_estimator->setSearchSurface(surface_);
@@ -107,7 +107,7 @@ pcl::SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::initCompute
   lrf_estimator->setRadiusSearch ((lrf_radius_ > 0 ? lrf_radius_ : search_radius_));
   lrf_estimator->setInputCloud (input_);
   lrf_estimator->setIndices (indices_);
-  lrf_estimator->setNumberOfThreads(threads_);
+  lrf_estimator->setNumberOfThreads(num_threads_);
 
   if (!fake_surface_)
     lrf_estimator->setSearchSurface(surface_);
@@ -123,16 +123,16 @@ pcl::SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::initCompute
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT> void
-pcl::SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::setNumberOfThreads (unsigned int nr_threads)
+pcl::SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::setNumberOfThreads (unsigned int num_threads)
 {
-  if (nr_threads == 0)
 #ifdef _OPENMP
-    threads_ = omp_get_num_procs();
+  num_threads_ = num_threads != 0 ? num_threads : omp_get_num_procs();
 #else
-    threads_ = 1;
+  if (num_threads_ != 1) {
+    PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");
+    num_threads_ = 1;
+  }
 #endif
-  else
-    threads_ = nr_threads;
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
@@ -153,7 +153,7 @@ pcl::SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::computeFeature (
 #pragma omp parallel for \
   default(none) \
   shared(output) \
-  num_threads(threads_)
+  num_threads(num_threads_)
   for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)
   {
 
@@ -206,16 +206,16 @@ pcl::SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::computeFeature (
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT, typename PointNT, typename PointOutT, typename PointRFT> void
-pcl::SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::setNumberOfThreads (unsigned int nr_threads)
+pcl::SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::setNumberOfThreads (unsigned int num_threads)
 {
-  if (nr_threads == 0)
 #ifdef _OPENMP
-    threads_ = omp_get_num_procs();
+  num_threads_ = num_threads != 0 ? num_threads : omp_get_num_procs();
 #else
-    threads_ = 1;
+  if (num_threads_ != 1) {
+    PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");
+    num_threads_ = 1;
+  }
 #endif
-  else
-    threads_ = nr_threads;
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
@@ -240,7 +240,7 @@ pcl::SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::computeFeat
 #pragma omp parallel for \
   default(none) \
   shared(output) \
-  num_threads(threads_)
+  num_threads(num_threads_)
   for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)
   {
     Eigen::VectorXf shot;