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Parallelize SampleConsensusPrerejective - #6484
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mvieth merged 3 commits intoOct 6, 2026
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mvieth
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changelog: enhancement
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🔵 Needs a closer look
Add the missing explicit <algorithm> include to ensure reliable compilation.
Review effort: Lite
Findings: None
What changed in this PR
Adds configurable OpenMP parallelization to SampleConsensusPrerejective for feature matching and fitness evaluation.
Changes:
- Adds configurable thread usage and non-OpenMP fallback.
- Parallelizes feature-cache construction and fitness computation.
- Preserves inlier ordering.
Review note: Add an explicit <algorithm> include for the newly used std::remove.
| File | Summary |
|---|---|
registration/include/pcl/registration/sample_consensus_prerejective.h |
Adds OpenMP support and thread configuration. |
registration/include/pcl/registration/impl/sample_consensus_prerejective.hpp |
Parallelizes feature searches and fitness evaluation. |
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mvieth
marked this pull request as ready for review
September 29, 2026 17:46
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I parallelized the
getFitnessfunction, where most of the time is spent. Additionally, finding similar features is parallelized if that is beneficial (mainly depending on input cloud size and number of iterations). I did some benchmarks and found a pretty good (though not perfect) speedup of 1.89 with 2 threads and 3.43 with 4 threads (measured over the whole align() call).