Move num_threads_ to pcl_base.

Set number of threads using omp_get_num_procs in initCompute.

Author: larshg

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 +167,15 @@ 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
+ if (num_threads_ != 1) {
+ PCL_WARN("OpenMP is not available. Keeping number of threads unchanged at 1\n");
+ }
+#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 +238,11 @@ 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 during filtering
+ */
+ unsigned int num_threads_{0};
+
  /** \brief The size of each individual field. */
  std::vector<uindex_t> field_sizes_;
 

common/src/pcl_base.cpp

@@ -130,6 +130,15 @@ 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
+ if (num_threads_ != 1) {
+ PCL_WARN("OpenMP is not available. Keeping number of threads unchanged at 1\n");
+ }
+#endif
+
  return (true);
 }
 

features/include/pcl/features/fpfh_omp.h

@@ -119,9 +119,6 @@ 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 num_threads_{1};
  };
 }
 

features/include/pcl/features/intensity_gradient.h

@@ -117,8 +117,6 @@ namespace pcl
  protected:
  ///intensity field accessor structure
  IntensitySelectorT intensity_;
- ///number of threads to be used
- unsigned int num_threads_{1};
  };
 }
 

features/include/pcl/features/normal_3d_omp.h

@@ -88,9 +88,6 @@ namespace pcl
  setNumberOfThreads (unsigned int num_threads = 0);
 
  protected:
- /** \brief The number of threads the scheduler should use. */
- unsigned int num_threads_{1};
-
  /** \brief Chunk size for (dynamic) scheduling. */
  int chunk_size_;
  private:

features/include/pcl/features/principal_curvatures.h

@@ -111,9 +111,6 @@ namespace pcl
  setNumberOfThreads (unsigned int num_threads = 0);
 
  protected:
- /** \brief The number of threads the scheduler should use. */
- unsigned int num_threads_{1};
-
  /** \brief Chunk size for (dynamic) scheduling. */
  int chunk_size_;
 

features/include/pcl/features/shot_lrf_omp.h

@@ -103,10 +103,6 @@ namespace pcl
  */
  void
  computeFeature (PointCloudOut &output) override;
-
- /** \brief The number of threads the scheduler should use. */
- unsigned int num_threads_{1};
-
  };
 }
 

features/include/pcl/features/shot_omp.h

@@ -119,9 +119,6 @@ namespace pcl
  /** \brief This method should get called before starting the actual computation. */
  bool
  initCompute () override;
-
- /** \brief The number of threads the scheduler should use. */
- unsigned int num_threads_{1};
  };
 
  /** \brief SHOTColorEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset
@@ -204,9 +201,6 @@ namespace pcl
  /** \brief This method should get called before starting the actual computation. */
  bool
  initCompute () override;
-
- /** \brief The number of threads the scheduler should use. */
- unsigned int num_threads_{1};
  };
 
 }