I wonder whether Nearest_Search support multi-thread operation ?

[Woodpecker0]

Thanks for your work, it's elegant and useful.

I would like to use nearest search in a openmp section, eg:

`
#pragma omp parallel for num_threads(4)
for (int i = 0; i < laserCloudSurfLastDSNum; i++)
{
PointType pointOri, pointSel, coeff;
std::vector pointSearchInd;
std::vector pointSearchSqDis;

pointOri = laserCloudSurfLastDS->points[i];
pointAssociateToMap(&pointOri, &pointSel); 
kdtreeSurfFromMap->nearestKSearch(pointSel, 5, pointSearchInd, pointSearchSqDis); //replaced by ikd-tree

}
`
Is it possible to do multiple search at the same time ? It seems that a mutex is used within the Nearest_Search(), which means that parallel operations actually save no time. Am i right ?

[Ecstasy-EC]

Sorry for my late reply.

Our ikd-Tree supports multi-thread nearest search. The mutex locks are only used to avoid memory conflicts in lazy label updates thus the multi-thread operations definitely save time. We have already tested the multi-thread nearest search in our LIO applications using the openmp. So don't worry about this.

[Woodpecker0]

thank you Yixi Cai ***@***.***> 于 2021年6月2日周三 下午12:34写道：

…

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