Merge pull request #44 from ngchisern/feat/downsample-parallelism

Add parallelism to`downsample`
nus-vv-streams · Oct 26, 2023 · 0a215a7 · 0a215a7
2 parents 947580f + 084a359
commit 0a215a7
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/README.md b/README.md
@@ -239,7 +239,7 @@ Downsamples pcd files and write as ply binary
 vv read ./pcd +output=pcdb \
        downsample -p 2 +input=pcdb +output=pcdb_down \
        write ./pcdb_down \
-             +input=pcdb_up \
+             +input=pcdb_down \
              --storage-type binary \
              --output-format ply
 ```

diff --git a/src/downsample/octree.rs b/src/downsample/octree.rs
@@ -1,6 +1,6 @@
 use crate::formats::{pointxyzrgba::PointXyzRgba, PointCloud};
 
-use std::iter::zip;
+use rayon::prelude::*;
 
 const DELTA: f32 = 1e-4;
 
@@ -157,7 +157,9 @@ fn octree_downsample(
         }
     }
 
-    zip(voxels, split_bounds)
+    voxels
+        .into_par_iter()
+        .zip(split_bounds.into_par_iter())
         .flat_map(|(p, b)| octree_downsample(p, b, points_per_voxel))
         .collect()
 }