Set num_threads_ to 1 if OMP is not available. Some classes use the num_threads_ as indices into arrays, which would fail with value of 0.

larshg · larshg · commit 8752f29f01c5 · 2025-09-18T12:17:24.000+02:00
diff --git a/common/include/pcl/impl/pcl_base.hpp b/common/include/pcl/impl/pcl_base.hpp
@@ -167,14 +167,12 @@ 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
+  // Set the number of threads
+  #ifdef _OPENMP
+    num_threads_ = num_threads_ != 0 ? num_threads_ : omp_get_num_procs();
+  #else
+    num_threads_ = 1;
+  #endif
 
   return (true);
 }
diff --git a/common/src/pcl_base.cpp b/common/src/pcl_base.cpp
@@ -130,14 +130,12 @@ 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
+  // Set the number of threads
+  #ifdef _OPENMP
+    num_threads_ = num_threads_ != 0 ? num_threads_ : omp_get_num_procs();
+  #else
+    num_threads_ = 1;
+  #endif
 
   return (true);
 }
diff --git a/features/include/pcl/features/impl/fpfh_omp.hpp b/features/include/pcl/features/impl/fpfh_omp.hpp
@@ -55,7 +55,8 @@ pcl::FPFHEstimationOMP<PointInT, PointNT, PointOutT>::setNumberOfThreads (unsign
   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");
+    PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");
+    num_threads_ = 1;
   }
 #endif
 }
diff --git a/features/include/pcl/features/impl/normal_3d_omp.hpp b/features/include/pcl/features/impl/normal_3d_omp.hpp
@@ -51,7 +51,8 @@ pcl::NormalEstimationOMP<PointInT, PointOutT>::setNumberOfThreads (unsigned int
   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");
+    PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");
+    num_threads_ = 1;
   }
 #endif
 }
diff --git a/features/include/pcl/features/impl/principal_curvatures.hpp b/features/include/pcl/features/impl/principal_curvatures.hpp
@@ -53,7 +53,8 @@ pcl::PrincipalCurvaturesEstimation<PointInT, PointNT, PointOutT>::setNumberOfThr
   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");
+    PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");
+    num_threads_ = 1;
   }
 #endif
 }
diff --git a/features/include/pcl/features/impl/shot_lrf_omp.hpp b/features/include/pcl/features/impl/shot_lrf_omp.hpp
@@ -51,7 +51,8 @@ pcl::SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT>::setNumberOfThrea
   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");
+    PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");
+    num_threads_ = 1;
   }
 #endif
 }
diff --git a/features/include/pcl/features/impl/shot_omp.hpp b/features/include/pcl/features/impl/shot_omp.hpp
@@ -129,7 +129,8 @@ pcl::SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::setNumberOfThrea
   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");
+    PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");
+    num_threads_ = 1;
   }
 #endif
 }
@@ -211,7 +212,8 @@ pcl::SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::setNumberOf
   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");
+    PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");
+    num_threads_ = 1;
   }
 #endif
 }
diff --git a/filters/include/pcl/filters/impl/fast_bilateral_omp.hpp b/filters/include/pcl/filters/impl/fast_bilateral_omp.hpp
@@ -51,7 +51,8 @@ pcl::FastBilateralFilterOMP<PointT>::setNumberOfThreads (unsigned int num_thread
   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");
+    PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");
+    num_threads_ = 1;
   }
 #endif
 }
diff --git a/io/src/image_grabber.cpp b/io/src/image_grabber.cpp
@@ -1021,7 +1021,8 @@ pcl::ImageGrabberBase::setNumberOfThreads (unsigned int num_threads)
   impl_->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");
+    PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");
+    num_threads_ = 1;
   }
 #endif
 }
diff --git a/keypoints/include/pcl/keypoints/impl/iss_3d.hpp b/keypoints/include/pcl/keypoints/impl/iss_3d.hpp
@@ -109,7 +109,8 @@ pcl::ISSKeypoint3D<PointInT, PointOutT, NormalT>::setNumberOfThreads (unsigned i
   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");
+    PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");
+    num_threads_ = 1;
   }
 #endif
 }
diff --git a/keypoints/include/pcl/keypoints/impl/susan.hpp b/keypoints/include/pcl/keypoints/impl/susan.hpp
@@ -108,7 +108,8 @@ pcl::SUSANKeypoint<PointInT, PointOutT, NormalT, IntensityT>::setNumberOfThreads
   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");
+    PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");
+    num_threads_ = 1;
   }
 #endif
 }

Original file line number	Diff line number	Diff line change
`@@ -55,7 +55,8 @@ pcl::FPFHEstimationOMP<PointInT, PointNT, PointOutT>::setNumberOfThreads (unsign`
`55`	`55`	`num_threads_ = num_threads != 0 ? num_threads : omp_get_num_procs();`
`56`	`56`	`#else`
`57`	`57`	`if (num_threads_ != 1) {`
`58`		`- PCL_WARN("OpenMP is not available. Keeping number of threads unchanged at 1\n");`
	`58`	`+ PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");`
	`59`	`+ num_threads_ = 1;`
`59`	`60`	`}`
`60`	`61`	`#endif`
`61`	`62`	`}`
Original file line number	Diff line number	Diff line change
`@@ -51,7 +51,8 @@ pcl::NormalEstimationOMP<PointInT, PointOutT>::setNumberOfThreads (unsigned int`
`51`	`51`	`num_threads_ = num_threads != 0 ? num_threads : omp_get_num_procs();`
`52`	`52`	`#else`
`53`	`53`	`if (num_threads_ != 1) {`
`54`		`- PCL_WARN("OpenMP is not available. Keeping number of threads unchanged at 1\n");`
	`54`	`+ PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");`
	`55`	`+ num_threads_ = 1;`
`55`	`56`	`}`
`56`	`57`	`#endif`
`57`	`58`	`}`
Original file line number	Diff line number	Diff line change
`@@ -53,7 +53,8 @@ pcl::PrincipalCurvaturesEstimation<PointInT, PointNT, PointOutT>::setNumberOfThr`
`53`	`53`	`num_threads_ = num_threads != 0 ? num_threads : omp_get_num_procs();`
`54`	`54`	`#else`
`55`	`55`	`if (num_threads_ != 1) {`
`56`		`- PCL_WARN("OpenMP is not available. Keeping number of threads unchanged at 1\n");`
	`56`	`+ PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");`
	`57`	`+ num_threads_ = 1;`
`57`	`58`	`}`
`58`	`59`	`#endif`
`59`	`60`	`}`
Original file line number	Diff line number	Diff line change
`@@ -51,7 +51,8 @@ pcl::SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT>::setNumberOfThrea`
`51`	`51`	`num_threads_ = num_threads != 0 ? num_threads : omp_get_num_procs();`
`52`	`52`	`#else`
`53`	`53`	`if (num_threads_ != 1) {`
`54`		`- PCL_WARN("OpenMP is not available. Keeping number of threads unchanged at 1\n");`
	`54`	`+ PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");`
	`55`	`+ num_threads_ = 1;`
`55`	`56`	`}`
`56`	`57`	`#endif`
`57`	`58`	`}`
Original file line number	Diff line number	Diff line change
`@@ -129,7 +129,8 @@ pcl::SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::setNumberOfThrea`
`129`	`129`	`num_threads_ = num_threads != 0 ? num_threads : omp_get_num_procs();`
`130`	`130`	`#else`
`131`	`131`	`if (num_threads_ != 1) {`
`132`		`- PCL_WARN("OpenMP is not available. Keeping number of threads unchanged at 1\n");`
	`132`	`+ PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");`
	`133`	`+ num_threads_ = 1;`
`133`	`134`	`}`
`134`	`135`	`#endif`
`135`	`136`	`}`
`@@ -211,7 +212,8 @@ pcl::SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::setNumberOf`
`211`	`212`	`num_threads_ = num_threads != 0 ? num_threads : omp_get_num_procs();`
`212`	`213`	`#else`
`213`	`214`	`if (num_threads_ != 1) {`
`214`		`- PCL_WARN("OpenMP is not available. Keeping number of threads unchanged at 1\n");`
	`215`	`+ PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");`
	`216`	`+ num_threads_ = 1;`
`215`	`217`	`}`
`216`	`218`	`#endif`
`217`	`219`	`}`
Original file line number	Diff line number	Diff line change
`@@ -51,7 +51,8 @@ pcl::FastBilateralFilterOMP<PointT>::setNumberOfThreads (unsigned int num_thread`
`51`	`51`	`num_threads_ = num_threads != 0 ? num_threads : omp_get_num_procs();`
`52`	`52`	`#else`
`53`	`53`	`if (num_threads_ != 1) {`
`54`		`- PCL_WARN("OpenMP is not available. Keeping number of threads unchanged at 1\n");`
	`54`	`+ PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");`
	`55`	`+ num_threads_ = 1;`
`55`	`56`	`}`
`56`	`57`	`#endif`
`57`	`58`	`}`
Original file line number	Diff line number	Diff line change
`@@ -1021,7 +1021,8 @@ pcl::ImageGrabberBase::setNumberOfThreads (unsigned int num_threads)`
`1021`	`1021`	`impl_->num_threads_ = num_threads != 0 ? num_threads : omp_get_num_procs();`
`1022`	`1022`	`#else`
`1023`	`1023`	`if (num_threads_ != 1) {`
`1024`		`- PCL_WARN("OpenMP is not available. Keeping number of threads unchanged at 1\n");`
	`1024`	`+ PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");`
	`1025`	`+ num_threads_ = 1;`
`1025`	`1026`	`}`
`1026`	`1027`	`#endif`
`1027`	`1028`	`}`
Original file line number	Diff line number	Diff line change
`@@ -109,7 +109,8 @@ pcl::ISSKeypoint3D<PointInT, PointOutT, NormalT>::setNumberOfThreads (unsigned i`
`109`	`109`	`num_threads_ = num_threads != 0 ? num_threads : omp_get_num_procs();`
`110`	`110`	`#else`
`111`	`111`	`if (num_threads_ != 1) {`
`112`		`- PCL_WARN("OpenMP is not available. Keeping number of threads unchanged at 1\n");`
	`112`	`+ PCL_WARN("OpenMP is not available. Setting number of threads to 1\n");`
	`113`	`+ num_threads_ = 1;`
`113`	`114`	`}`
`114`	`115`	`#endif`
`115`	`116`	`}`