Merge pull request #5903 from mvieth/clang17_default_none

Remove default(none) clause in some OpenMP for-loops

Author: mvieth

.ci/azure-pipelines/ubuntu-variety.yaml

@@ -32,7 +32,7 @@ jobs:
       POSSIBLE_VTK_VERSION=("9") \
       POSSIBLE_CMAKE_CXX_STANDARD=("14" "17" "20") \
       POSSIBLE_CMAKE_BUILD_TYPE=("None" "Debug" "Release" "RelWithDebInfo" "MinSizeRel") \
-      POSSIBLE_COMPILER_PACKAGE=("g++" "g++-10" "g++-11" "g++-12" "g++-13" "clang" "clang-13" "clang-14" "clang-15" "clang-16" "clang-17") \
+      POSSIBLE_COMPILER_PACKAGE=("g++" "g++-10" "g++-11" "g++-12" "g++-13" "clang libomp-dev" "clang-13 libomp-13-dev" "clang-14 libomp-14-dev" "clang-15 libomp-15-dev" "clang-16 libomp-16-dev" "clang-17 libomp-17-dev") \
       POSSIBLE_CMAKE_C_COMPILER=("gcc" "gcc-10" "gcc-11" "gcc-12" "gcc-13" "clang" "clang-13" "clang-14" "clang-15" "clang-16" "clang-17") \
       POSSIBLE_CMAKE_CXX_COMPILER=("g++" "g++-10" "g++-11" "g++-12" "g++-13" "clang++" "clang++-13" "clang++-14" "clang++-15" "clang++-16" "clang++-17") \
       CHOSEN_COMPILER=$[RANDOM%${#POSSIBLE_COMPILER_PACKAGE[@]}] \

.dev/docker/env/Dockerfile

@@ -37,6 +37,7 @@ RUN apt-get update \
       libflann-dev \
       libglew-dev \
       libgtest-dev \
+      libomp-dev \
       libopenni-dev \
       libopenni2-dev \
       libpcap-dev \

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_crh.hpp

@@ -297,7 +297,6 @@ pcl::rec_3d_framework::GlobalNNCRHRecognizer<Distance, PointInT, FeatureT>::reco
 
       // clang-format off
 #pragma omp parallel for \
-  default(none) \
   shared(VOXEL_SIZE_ICP_, cloud_voxelized_icp) \
   num_threads(omp_get_num_procs())
       // clang-format on

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_cvfh.hpp

@@ -456,7 +456,6 @@ pcl::rec_3d_framework::GlobalNNCVFHRecognizer<Distance, PointInT, FeatureT>::rec
 
       // clang-format off
 #pragma omp parallel for \
-  default(none) \
   shared(cloud_voxelized_icp, VOXEL_SIZE_ICP_) \
   num_threads(omp_get_num_procs())
       // clang-format on

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/local_recognizer.hpp

@@ -371,7 +371,6 @@ pcl::rec_3d_framework::LocalRecognitionPipeline<Distance, PointInT, FeatureT>::
 
     // clang-format off
 #pragma omp parallel for \
-  default(none) \
   shared(cloud_voxelized_icp) \
   schedule(dynamic,1) \
   num_threads(omp_get_num_procs())

common/src/range_image.cpp

@@ -865,7 +865,6 @@ RangeImage::getOverlap (const RangeImage& other_range_image, const Eigen::Affine
   float max_distance_squared = max_distance*max_distance;
 
 #pragma omp parallel for \
-  default(none) \
   shared(max_distance_squared, other_range_image, pixel_step, relative_transformation, search_radius) \
   schedule(dynamic, 1) \
   reduction(+ : valid_points_counter) \

keypoints/include/pcl/keypoints/impl/harris_3d.hpp

@@ -506,7 +506,6 @@ pcl::HarrisKeypoint3D<PointInT, PointOutT, NormalT>::refineCorners (PointCloudOu
   Eigen::Vector3f NNTp;
   constexpr unsigned max_iterations = 10;
 #pragma omp parallel for \
-  default(none) \
   shared(corners) \
   firstprivate(nnT, NNT, NNTp) \
   num_threads(threads_)

keypoints/src/narf_keypoint.cpp

@@ -478,7 +478,6 @@ NarfKeypoint::calculateSparseInterestImage ()
 
   //double interest_value_calculation_start_time = getTime ();
 #pragma omp parallel for \
-  default(none) \
   shared(array_size, border_descriptions, increased_radius_squared, radius_reciprocal, radius_overhead_squared, range_image, search_radius, \
          surface_change_directions, surface_change_scores) \
   num_threads(parameters_.max_no_of_threads) \

tools/fast_bilateral_filter.cpp

@@ -114,7 +114,6 @@ int
 batchProcess (const std::vector<std::string> &pcd_files, std::string &output_dir, float sigma_s, float sigma_r)
 {
 #pragma omp parallel for \
-  default(none) \
   shared(output_dir, pcd_files, sigma_r, sigma_s)
   // Disable lint since this 'for' is part of the pragma
   // NOLINTNEXTLINE(modernize-loop-convert)

tools/normal_estimation.cpp

@@ -133,7 +133,6 @@ int
 batchProcess (const std::vector<std::string> &pcd_files, std::string &output_dir, int k, double radius)
 {
 #pragma omp parallel for \
-  default(none) \
   shared(k, output_dir, pcd_files, radius)
   // Disable lint since this 'for' is part of the pragma
   // NOLINTNEXTLINE(modernize-loop-convert)