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how is PCL library working effeciently?

asked 2022-06-06 03:03:38 -0500

sidharth.jeyabal
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What kind of programming has been done to make the PCL library work so efficiently.I mean there is no lag during the program execution even though a massive amount of point clouds are being processed..Can anyone tell me what functions or methods they use to run these things efficiently...thanks in advance!!

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answered 2022-06-10 22:52:11 -0500

fergs

13902 ●59 ●157 ●196 http://www.robotandchisel.com

The code for PCL is entirely open source, so for specific things, you could look at the implementation directly. Generally speaking, they leverage a few design choices:

Use of the Eigen library, which heavily uses SIMD instructions to speed up matrix operations
The point clouds are templated on the point type (XYZRGB, XYZ, etc), which avoids some of the runtime evaluation you would get when using a dynamic data structure such as sensor_msgs::PointCloud2

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Asked: 2022-06-06 03:03:38 -0500

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Last updated: Jun 10 '22

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