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norlab-ulaval / libpointmatcher

An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics
BSD 3-Clause "New" or "Revised" License
1.58k stars 544 forks source link

has used multi thread? #345

Closed chennuo0125-HIT closed 4 years ago

chennuo0125-HIT commented 4 years ago

when i use icp to match two pointcloud, i found that icp process occupy three cores, whether use multi thread in icp process? and how to achieve ?

PhiBabin commented 4 years ago

The main source of multithread performance in libpointmatcher is kd-tree search. We use the libnabo library for handling kd-tree computation. If you compile libnabo with the flag USE_OPEN_MP to true (it is the default value), it will do kd-tree seach using multiple threads.

chennuo0125-HIT commented 4 years ago

thank you, i get it !