Performance of threading read_point_cloud

Frequently I need to load multiple pcd files, which takes some time when loading sequentially.

So I tried using threading to execute several calls concurrently.

But the performance was not any better. Plenty of IO bandwidth on the SSD, and plenty of spare CPU cores too.

It’s probably a Python GIL (Global Interpreter Lock) issue.

Anyone know if there’s a simple fix to release the GIL in pybind?


I got similar problem. The parallel processing is one thing. I also find automatically returns “Format=pcd, Extension=auto” to console after the successful loading of each point cloud. It also reduces the processing speed. Is there any way we can remove this print info from console?