Merge pull request #1 from PointCloudLibrary/master

update

CMakeLists.txt

@@ -102,6 +102,14 @@ elseif(MSVC)
   set(CMAKE_COMPILER_IS_MSVC 1)
 endif()
 
+# Create a variable with expected default CXX flags
+# This will be used further down the road to check if the user explicitly provided CXX flags
+if(CMAKE_COMPILER_IS_MSVC)
+  set(CMAKE_CXX_FLAGS_DEFAULT "/DWIN32 /D_WINDOWS /W3 /GR /EHsc")
+else()
+  set(CMAKE_CXX_FLAGS_DEFAULT "")
+endif()
+
 include("${PCL_SOURCE_DIR}/cmake/pcl_verbosity.cmake")
 include("${PCL_SOURCE_DIR}/cmake/pcl_targets.cmake")
 include("${PCL_SOURCE_DIR}/cmake/pcl_options.cmake")
@@ -114,13 +122,13 @@ endif()
 
 # check for SSE flags
 include("${PCL_SOURCE_DIR}/cmake/pcl_find_sse.cmake")
-if(PCL_ENABLE_SSE AND "${CMAKE_CXX_FLAGS}" STREQUAL "")
+if(PCL_ENABLE_SSE AND "${CMAKE_CXX_FLAGS}" STREQUAL "${CMAKE_CXX_FLAGS_DEFAULT}")
   PCL_CHECK_FOR_SSE()
 endif()
 
 # ---[ Unix/Darwin/Windows specific flags
 if(CMAKE_COMPILER_IS_GNUCXX)
-  if("${CMAKE_CXX_FLAGS}" STREQUAL "")
+  if("${CMAKE_CXX_FLAGS}" STREQUAL "${CMAKE_CXX_FLAGS_DEFAULT}")
     SET(CMAKE_CXX_FLAGS "-Wall -Wextra -Wno-unknown-pragmas -fno-strict-aliasing -Wno-format-extra-args -Wno-sign-compare -Wno-invalid-offsetof -Wno-conversion ${SSE_FLAGS_STR}")
 
     # Enable -Wabi for GCC > 4.3, and -Wno-deprecated for GCC < 4.3
@@ -159,7 +167,7 @@ endif()
 if(CMAKE_COMPILER_IS_MSVC)
   add_definitions("-DBOOST_ALL_NO_LIB -D_SCL_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -DPCL_ONLY_CORE_POINT_TYPES /bigobj ${SSE_DEFINITIONS}")
 
-  if("${CMAKE_CXX_FLAGS}" STREQUAL "/DWIN32 /D_WINDOWS /W3 /GR /EHsc")	# Check against default flags
+  if("${CMAKE_CXX_FLAGS}" STREQUAL "${CMAKE_CXX_FLAGS_DEFAULT}")
     SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj /fp:precise /wd4800 /wd4521 /wd4251 /wd4275 /wd4305 /wd4355 ${SSE_FLAGS_STR}")
 
     # Add extra code generation/link optimizations
@@ -187,7 +195,7 @@ if(CMAKE_COMPILER_IS_MSVC)
 endif()
 
 if(CMAKE_COMPILER_IS_PATHSCALE)
-  if("${CMAKE_CXX_FLAGS}" STREQUAL "")
+  if("${CMAKE_CXX_FLAGS}" STREQUAL "${CMAKE_CXX_FLAGS_DEFAULT}")
     SET(CMAKE_CXX_FLAGS "-Wno-uninitialized -zerouv -pthread -mp")
   endif()
   if("${CMAKE_SHARED_LINKER_FLAGS}" STREQUAL "")
@@ -196,7 +204,7 @@ if(CMAKE_COMPILER_IS_PATHSCALE)
 endif()
 
 if(CMAKE_COMPILER_IS_CLANG)
-  if("${CMAKE_C_FLAGS}" STREQUAL "")
+  if("${CMAKE_C_FLAGS}" STREQUAL "${CMAKE_CXX_FLAGS_DEFAULT}")
     SET(CMAKE_C_FLAGS "-Qunused-arguments")
   endif()
   if("${CMAKE_CXX_FLAGS}" STREQUAL "")

common/include/pcl/common/impl/transforms.hpp

@@ -120,7 +120,7 @@ namespace pcl
       }
     };
 
-#if not defined(__AVX__)
+#if !defined(__AVX__)
 
     /** Optimized version for double-precision transform using SSE2 intrinsics. */
     template<>

common/include/pcl/point_types_conversion.h

@@ -46,10 +46,10 @@
 
 namespace pcl
 {
-  // r,g,b, i values are from 0 to 1
+  // r,g,b, i values are from 0 to 255
   // h = [0,360]
   // s, v values are from 0 to 1
-  // if s = 0 > h = -1 (undefined)
+  // if s = 0 => h = 0
 
   /** \brief Convert a XYZRGB point type to a XYZI
     * \param[in] in the input XYZRGB point 
@@ -153,7 +153,7 @@ namespace pcl
     if (max == 0) // division by zero
     {
       out.s = 0.f;
-      out.h = 0.f; // h = -1.f;
+      out.h = 0.f;
       return;
     }
 

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)