Use dynamic scheduling in ISS keypoint OpenMP loops - #6474
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Issue PointCloudLibrary#5785 asks for contained checks of OpenMP loops whose per-iteration cost varies with neighbor searches. ISSKeypoint3D still used the default schedule in several such loops, so this change switches those loops to dynamic scheduling and adds a 2-thread regression on the existing ISS boundary-estimation path. Constraint: Keep the PointCloudLibrary#5785 work scoped to one candidate implementation file instead of a repo-wide schedule sweep Rejected: Touching already-dynamic OMP implementations such as normal_3d_omp and shot_omp | no remaining issue value there Confidence: medium Scope-risk: narrow Directive: Revisit the fixed dynamic chunk only with benchmark data; this patch intentionally avoids adding new public tuning knobs Tested: CMake configure under Visual Studio 2022 Build Tools reached OpenMP detection in build-iss Not-tested: keypoints_iss_3d build/run blocked at configure time by missing Eigen3 package config on this machine Signed-off-by: yurekami <yurekami@users.noreply.github.com>
The dynamic-scheduling change for issue PointCloudLibrary#5785 shifts iteration ordering, so the regression should validate the keypoint set rather than a thread-dependent output order. This follow-up canonicalizes the expected keypoints and repeats the 2-thread path enough times to catch flaky ordering-sensitive failures. Constraint: Keep the existing issue PointCloudLibrary#5785 implementation focused on ISS instead of broadening into more scheduler tuning work Rejected: Restore the previous order-sensitive assertions | they can fail even when the dynamic-scheduling fix is correct Confidence: medium Scope-risk: narrow Directive: Parallel ISS tests should compare canonicalized keypoint sets unless the API explicitly guarantees output ordering Tested: git diff --check Not-tested: Native build/run of test_keypoints_iss_3d; local machine is still missing Eigen3 package config for the PCL build Signed-off-by: yurekami <yurekami@users.noreply.github.com>
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Fixes #5785
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Testing