Make pcl::MovingLeastSquares thread-safe #2418
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Move the local variable mls_result_index inside the #pragma omp parallel section.
SergioRAgostinho
approved these changes
Sep 7, 2018
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Problem:
Running
pcl::MovingLeastSquareswith multiple threads may lead to an out-of-bounds exception inpcl::MLSResult::computeMLSSurfacebecause the memberMLSResult::num_neighborsis overwritten by another thread.I'm afraid I have introduced this bug myself on refactoring the function for #2324 when I left the local variable
mls_result_indexat the top of the function (like in the non-OpenMP version) instead of moving it inside the parallel region (like in the OpenMP version).Proposed solution:
Move the local variable
mls_result_indexinside the OpenMP parallel region, so that each thread has its private copy.