Fix OpenMP User Error 1001

The number of thread passed to OpenMP must be greater than 0. The default for OpenMP classes is 0. With this commit, by setting 0, the number of threads is set to the number of cores detected on the machine.

Closes PointCloudLibrary#2568

See also PointCloudLibrary#2399

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; }
+      inline void
+      setNumberOfThreads (unsigned int nr_threads = 0) { nr_threads == 0 ? threads_ = omp_get_num_procs() : threads_ = nr_threads; }
 
     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/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; }
+      inline void
+      setNumberOfThreads (unsigned int nr_threads = 0) { nr_threads == 0 ? threads_ = omp_get_num_procs() : threads_ = nr_threads; }
 
     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(nr_threads);
       }
-      
+
     /** \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; }
+     setNumberOfThreads (unsigned int nr_threads = 0) { nr_threads == 0 ? threads_ = omp_get_num_procs() : threads_ = nr_threads; }
 
     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; }
+      setNumberOfThreads (unsigned int nr_threads = 0) { nr_threads == 0 ? threads_ = omp_get_num_procs() : threads_ = nr_threads; }
 
     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; }
+      setNumberOfThreads (unsigned int nr_threads = 0) { nr_threads == 0 ? threads_ = omp_get_num_procs() : threads_ = nr_threads; }
 
     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; }
+      inline void
+      setNumberOfThreads (unsigned int nr_threads = 0) { nr_threads == 0 ? threads_ = omp_get_num_procs() : threads_ = nr_threads; }
 
       /** \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_;

tracking/include/pcl/tracking/kld_adaptive_particle_filter_omp.h

@@ -46,7 +46,7 @@ namespace pcl
       using KLDAdaptiveParticleFilterTracker<PointInT, StateT>::calcBoundingBox;
 
       typedef Tracker<PointInT, StateT> BaseClass;
-      
+
       typedef typename Tracker<PointInT, StateT>::PointCloudIn PointCloudIn;
       typedef typename PointCloudIn::Ptr PointCloudInPtr;
       typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
@@ -65,19 +65,20 @@ 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)
-        */      
+        */
       KLDAdaptiveParticleFilterOMPTracker (unsigned int nr_threads = 0)
       : KLDAdaptiveParticleFilterTracker<PointInT, StateT> ()
-      , threads_ (nr_threads)
       {
         tracker_name_ = "KLDAdaptiveParticleFilterOMPTracker";
+
+        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; }
+      setNumberOfThreads (unsigned int nr_threads = 0) { nr_threads == 0 ? threads_ = omp_get_num_procs() : threads_ = nr_threads; }
 
     protected:
       /** \brief The number of threads the scheduler should use. */

tracking/include/pcl/tracking/particle_filter_omp.h

@@ -10,7 +10,7 @@ namespace pcl
   namespace tracking
   {
   /** \brief @b ParticleFilterOMPTracker tracks the PointCloud which is given by
-      setReferenceCloud within the measured PointCloud using particle filter method 
+      setReferenceCloud within the measured PointCloud using particle filter method
       in parallel, using the OpenMP standard.
     * \author Ryohei Ueda
     * \ingroup tracking
@@ -42,7 +42,7 @@ namespace pcl
       using ParticleFilterTracker<PointInT, StateT>::calcBoundingBox;
 
       typedef Tracker<PointInT, StateT> BaseClass;
-      
+
       typedef typename Tracker<PointInT, StateT>::PointCloudIn PointCloudIn;
       typedef typename PointCloudIn::Ptr PointCloudInPtr;
       typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
@@ -61,20 +61,21 @@ 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)
-        */      
+        */
       ParticleFilterOMPTracker (unsigned int nr_threads = 0)
       : ParticleFilterTracker<PointInT, StateT> ()
-      , threads_ (nr_threads)
       {
         tracker_name_ = "ParticleFilterOMPTracker";
+
+        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; }
-      
+      setNumberOfThreads (unsigned int nr_threads = 0) { nr_threads == 0 ? threads_ = omp_get_num_procs() : threads_ = nr_threads; }
+
     protected:
       /** \brief The number of threads the scheduler should use. */
       unsigned int threads_;