Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Please release python GIL in RegistrationGeneralizedICP #5837

Open
3 tasks done
jason-cso opened this issue Jan 9, 2023 · 2 comments · May be fixed by #5888
Open
3 tasks done

Please release python GIL in RegistrationGeneralizedICP #5837

jason-cso opened this issue Jan 9, 2023 · 2 comments · May be fixed by #5888
Assignees
@ssheorey
Labels
feature request

Comments

@jason-cso
Copy link

Checklist

Proposed new feature or change

In the python API, looks like most of the ICP methods release the GIL (global interpreter lock) except for RegistrationGeneralizedICP. It would be handy if that one could also release the lock.

References

RegistrationGeneralizedICP

Additional information

No response
@yuecideng yuecideng mentioned this issue Jan 10, 2023
Merged
@jason-cso
Copy link
Author

So fast! Thanks @yuecideng. Is this also something that could be easily added to EstimateNormals?

Open3D/cpp/pybind/geometry/pointcloud.cpp

Line 143 in 0b3098c

.def("estimate_normals", &PointCloud::EstimateNormals,

@yuecideng
Copy link
Collaborator

I notice that the pybind functions of legacy geometry class all miss the release of python GIL. It should be carefully considered before we add them all.

@jason-cso jason-cso changed the title Pleas release python GIL in RegistrationGeneralizedICP Please release python GIL in RegistrationGeneralizedICP Jan 11, 2023
@ssheorey ssheorey self-assigned this Jan 29, 2023
ssheorey added a commit that referenced this issue Feb 3, 2023
@ssheorey
Release Python GIL
c6a9bfa 
in estimate normals, optimize pose graph, fpfh computation. Allow Python multithreading for these operations.

Resolves #5837
@ssheorey ssheorey linked a pull request Feb 3, 2023 that will close this issue
Draft
9 tasks
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees

@ssheorey ssheorey

Labels
feature request
Projects
None yet
Milestone
No milestone
Development

Successfully merging a pull request may close this issue.

Release Python GIL in Eigen API isl-org/Open3D
3 participants
@ssheorey @yuecideng @jason-cso