Merge pull request #2596 from SergioRAgostinho/fix/globaltestwin

Corrections to Windows unit tests.

features/include/pcl/features/fpfh_omp.h

@@ -60,9 +60,9 @@ namespace pcl
     *     In Proceedings of the 22nd IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
     *     St. Louis, MO, USA, October 11-15 2009.
     *
-    * \attention 
+    * \attention
     * The convention for FPFH features is:
-    *   - if a query point's nearest neighbors cannot be estimated, the FPFH feature will be set to NaN 
+    *   - if a query point's nearest neighbors cannot be estimated, the FPFH feature will be set to NaN
     *     (not a number)
     *   - it is impossible to estimate a FPFH descriptor for a point that
     *     doesn't have finite 3D coordinates. Therefore, any point that contains
@@ -95,24 +95,26 @@ namespace pcl
       /** \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)
         */
-      FPFHEstimationOMP (unsigned int nr_threads = 0) : nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11), threads_ (nr_threads)
+      FPFHEstimationOMP (unsigned int nr_threads = 0) : nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11)
       {
         feature_name_ = "FPFHEstimationOMP";
+
+        setNumberOfThreads(nr_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)
         */
-      inline void 
-      setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
+      void
+      setNumberOfThreads (unsigned int nr_threads = 0);
 
     private:
       /** \brief Estimate the Fast Point Feature Histograms (FPFH) descriptors at a set of points given by
         * <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
         * setSearchMethod ()
         * \param[out] output the resultant point cloud model dataset that contains the FPFH feature estimates
         */
-      void 
+      void
       computeFeature (PointCloudOut &output);
 
     public:

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

@@ -43,6 +43,20 @@
 
 #include <pcl/features/fpfh_omp.h>
 
+//////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointNT, typename PointOutT> void
+pcl::FPFHEstimationOMP<PointInT, PointNT, PointOutT>::setNumberOfThreads (unsigned int nr_threads)
+{
+  if (nr_threads == 0)
+#ifdef _OPENMP
+    threads_ = omp_get_num_procs();
+#else
+    threads_ = 1;
+#endif
+  else
+    threads_ = nr_threads;
+}
+
 //////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT, typename PointNT, typename PointOutT> void
 pcl::FPFHEstimationOMP<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut &output)

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

@@ -43,6 +43,20 @@
 
 #include <pcl/features/normal_3d_omp.h>
 
+///////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> void
+pcl::NormalEstimationOMP<PointInT, PointOutT>::setNumberOfThreads (unsigned int nr_threads)
+{
+  if (nr_threads == 0)
+#ifdef _OPENMP
+    threads_ = omp_get_num_procs();
+#else
+    threads_ = 1;
+#endif
+  else
+    threads_ = nr_threads;
+}
+
 ///////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT, typename PointOutT> void
 pcl::NormalEstimationOMP<PointInT, PointOutT>::computeFeature (PointCloudOut &output)

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

@@ -44,8 +44,22 @@
 #include <pcl/features/shot_lrf_omp.h>
 #include <pcl/features/shot_lrf.h>
 
-template<typename PointInT, typename PointOutT>
-void
+//////////////////////////////////////////////////////////////////////////////////////////////
+template<typename PointInT, typename PointOutT> void
+pcl::SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT>::setNumberOfThreads (unsigned int nr_threads)
+{
+  if (nr_threads == 0)
+#ifdef _OPENMP
+    threads_ = omp_get_num_procs();
+#else
+    threads_ = 1;
+#endif
+  else
+    threads_ = nr_threads;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+template<typename PointInT, typename PointOutT> void
 pcl::SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT>::computeFeature (PointCloudOut &output)
 {
   //check whether used with search radius or search k-neighbors

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

@@ -119,6 +119,20 @@ pcl::SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::initCompute
   return (true);
 }
 
+//////////////////////////////////////////////////////////////////////////////////////////////
+template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT> void
+pcl::SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::setNumberOfThreads (unsigned int nr_threads)
+{
+  if (nr_threads == 0)
+#ifdef _OPENMP
+    threads_ = omp_get_num_procs();
+#else
+    threads_ = 1;
+#endif
+  else
+    threads_ = nr_threads;
+}
+
 //////////////////////////////////////////////////////////////////////////////////////////////
 template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT> void
 pcl::SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::computeFeature (PointCloudOut &output)
@@ -189,6 +203,20 @@ 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)
+{
+  if (nr_threads == 0)
+#ifdef _OPENMP
+    threads_ = omp_get_num_procs();
+#else
+    threads_ = 1;
+#endif
+  else
+    threads_ = nr_threads;
+}
+
 //////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT, typename PointNT, typename PointOutT, typename PointRFT> void
 pcl::SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::computeFeature (PointCloudOut &output)

features/include/pcl/features/normal_3d_omp.h

@@ -74,16 +74,18 @@ namespace pcl
       /** \brief Initialize the scheduler and set the number of threads to use.
         * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
         */
-      NormalEstimationOMP (unsigned int nr_threads = 0) : threads_ (nr_threads)
+      NormalEstimationOMP (unsigned int nr_threads = 0)
       {
         feature_name_ = "NormalEstimationOMP";
+
+        setNumberOfThreads(nr_threads);
       }
 
       /** \brief Initialize the scheduler and set the number of threads to use.
         * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
         */
-      inline void 
-      setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
+      void
+      setNumberOfThreads (unsigned int nr_threads = 0);
 
     protected:
       /** \brief The number of threads the scheduler should use. */
@@ -94,7 +96,7 @@ namespace pcl
         * setSearchSurface () and the spatial locator in setSearchMethod ()
         * \param output the resultant point cloud model dataset that contains surface normals and curvatures
         */
-      void 
+      void
       computeFeature (PointCloudOut &output);
   };
 }

features/include/pcl/features/shot_lrf_omp.h

@@ -70,19 +70,21 @@ namespace pcl
       typedef boost::shared_ptr<SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT> > Ptr;
       typedef boost::shared_ptr<const SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT> > ConstPtr;
       /** \brief Constructor */
-    SHOTLocalReferenceFrameEstimationOMP () : threads_ (0)
+    SHOTLocalReferenceFrameEstimationOMP ()
       {
         feature_name_ = "SHOTLocalReferenceFrameEstimationOMP";
+
+        setNumberOfThreads(0);
       }
-      
+
     /** \brief Empty destructor */
     virtual ~SHOTLocalReferenceFrameEstimationOMP () {}
 
     /** \brief Initialize the scheduler and set the number of threads to use.
      * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
      */
-     inline void
-     setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
+    void
+    setNumberOfThreads (unsigned int nr_threads = 0);
 
     protected:
       using Feature<PointInT, PointOutT>::feature_name_;

features/include/pcl/features/shot_omp.h

@@ -96,13 +96,16 @@ namespace pcl
       typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
 
       /** \brief Empty constructor. */
-      SHOTEstimationOMP (unsigned int nr_threads = 0) : SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> (), threads_ (nr_threads)
-      { };
+      SHOTEstimationOMP (unsigned int nr_threads = 0) : SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> ()
+      {
+        setNumberOfThreads(nr_threads);
+      };
+
       /** \brief Initialize the scheduler and set the number of threads to use.
         * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
         */
-      inline void
-      setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
+      void
+      setNumberOfThreads (unsigned int nr_threads = 0);
 
     protected:
 
@@ -178,15 +181,16 @@ namespace pcl
       SHOTColorEstimationOMP (bool describe_shape = true,
                               bool describe_color = true,
                               unsigned int nr_threads = 0)
-        : SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> (describe_shape, describe_color), threads_ (nr_threads)
+        : SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> (describe_shape, describe_color)
       {
+        setNumberOfThreads(nr_threads);
       }
 
       /** \brief Initialize the scheduler and set the number of threads to use.
         * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
         */
-      inline void
-      setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
+      void
+      setNumberOfThreads (unsigned int nr_threads = 0);
 
     protected:
 

filters/include/pcl/filters/fast_bilateral_omp.h

@@ -68,27 +68,28 @@ namespace pcl
     typedef typename Filter<PointT>::PointCloud PointCloud;
 
     public:
-    
+
       typedef boost::shared_ptr< FastBilateralFilterOMP<PointT> > Ptr;
       typedef boost::shared_ptr< const FastBilateralFilterOMP<PointT> > ConstPtr;
 
       /** \brief Empty constructor. */
       FastBilateralFilterOMP (unsigned int nr_threads = 0)
-        : threads_ (nr_threads)
-      { }
+      {
+          setNumberOfThreads(nr_threads);
+      }
 
       /** \brief Initialize the scheduler and set the number of threads to use.
         * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
         */
-      inline void 
-      setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
+      void
+      setNumberOfThreads (unsigned int nr_threads = 0);
 
       /** \brief Filter the input data and store the results into output.
         * \param[out] output the resultant point cloud
         */
       void
       applyFilter (PointCloud &output);
-    
+
     protected:
       /** \brief The number of threads the scheduler should use. */
       unsigned int threads_;

filters/include/pcl/filters/impl/fast_bilateral_omp.hpp

@@ -45,6 +45,20 @@
 #include <pcl/console/time.h>
 #include <assert.h>
 
+//////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::FastBilateralFilterOMP<PointT>::setNumberOfThreads (unsigned int nr_threads)
+{
+  if (nr_threads == 0)
+#ifdef _OPENMP
+    threads_ = omp_get_num_procs();
+#else
+    threads_ = 1;
+#endif
+  else
+    threads_ = nr_threads;
+}
+
 //////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointT> void
 pcl::FastBilateralFilterOMP<PointT>::applyFilter (PointCloud &output)

outofcore/src/outofcore_base_data.cpp

@@ -137,6 +137,9 @@ namespace pcl
     void
     OutofcoreOctreeBaseMetadata::serializeMetadataToDisk ()
     {
+      if (LOD_num_points_.empty ())
+        return;
+
       // Create JSON object
       boost::shared_ptr<cJSON> idx (cJSON_CreateObject (), cJSON_Delete);
 

test/common/test_wrappers.cpp

@@ -89,28 +89,25 @@ TEST (PointCloud, constructor_with_allocation)
 
 TEST (PointCloud, constructor_with_allocation_valued)
 {
-  PointXYZ nan_point (0.1f, 0.2f, 0.3f);  
+  PointXYZ nan_point (0.1f, 0.2f, 0.3f);
   PointCloud<PointXYZ> cloud2 (5, 80, nan_point);
   EXPECT_EQ (cloud2.width, 5);
   EXPECT_EQ (cloud2.height, 80);
   EXPECT_EQ (cloud2.size (), 5*80);
-  for (PointCloud<PointXYZ>::const_iterator pit = cloud2.begin ();
-       pit != cloud2.end ();
-       ++pit)
+  for (PointCloud<PointXYZ>::const_iterator pit = cloud2.begin (); pit != cloud2.end (); ++pit)
   {
     EXPECT_NEAR (pit->x, 0.1, 1e-3);
     EXPECT_NEAR (pit->y, 0.2, 1e-3);
     EXPECT_NEAR (pit->z, 0.3, 1e-3);
   }
-
 }
 
 TEST (PointCloud, iterators)
 {
-  EXPECT_EQ_VECTORS (cloud.begin ()->getVector3fMap (), 
+  EXPECT_EQ_VECTORS (cloud.begin ()->getVector3fMap (),
                      cloud.points.begin ()->getVector3fMap ());
-  EXPECT_EQ_VECTORS (cloud.end ()->getVector3fMap (), 
-                     cloud.points.end ()->getVector3fMap ());
+  EXPECT_EQ_VECTORS ((--cloud.end ())->getVector3fMap (),
+                     (--cloud.points.end ())->getVector3fMap ());
   PointCloud<PointXYZ>::const_iterator pit = cloud.begin ();
   PointCloud<PointXYZ>::VectorType::const_iterator pit2 = cloud.points.begin ();
   for (; pit < cloud.end (); ++pit2, ++pit)

test/recognition/test_recognition_cg.cpp

@@ -130,7 +130,7 @@ TEST (PCL, Hough3DGrouping)
   clusterer.setSceneRf (scene_rf);
   clusterer.setModelSceneCorrespondences (model_scene_corrs_);
   clusterer.setHoughBinSize (0.03);
-  clusterer.setHoughThreshold (13);
+  clusterer.setHoughThreshold (10);
   EXPECT_TRUE (clusterer.recognize (rototranslations));
 
   //Assertions

test/sample_consensus/test_sample_consensus.cpp

@@ -89,7 +89,12 @@ TEST (SampleConsensus, InfiniteLoop)
     cloud.points[idx].z = 0.0;
   }
 
+#if defined(DEBUG) || defined(_DEBUG)
+  boost::posix_time::time_duration delay (0, 0, 15, 0);
+#else
   boost::posix_time::time_duration delay (0, 0, 1, 0);
+#endif
+
   boost::function<bool ()> sac_function;
   SampleConsensusModelSpherePtr model (new SampleConsensusModelSphere<PointXYZ> (cloud.makeShared ()));
 

tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter_omp.hpp

@@ -3,6 +3,21 @@
 
 #include <pcl/tracking/kld_adaptive_particle_filter_omp.h>
 
+//////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename StateT> void
+pcl::tracking::KLDAdaptiveParticleFilterOMPTracker<PointInT, StateT>::setNumberOfThreads (unsigned int nr_threads)
+{
+  if (nr_threads == 0)
+#ifdef _OPENMP
+    threads_ = omp_get_num_procs();
+#else
+    threads_ = 1;
+#endif
+  else
+    threads_ = nr_threads;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT, typename StateT> void
 pcl::tracking::KLDAdaptiveParticleFilterOMPTracker<PointInT, StateT>::weight ()
 {