Markus Vieth

Your suggestions sound good. I will see when I have the time to implement them. Or maybe someone else is interested to add this.

@roncapat Please have a look at the linked pull request and say if that is what you had in mind

Hi, sorry for the delay. I am not so sure about this code change. I feel like we might introduce bugs if we allow point fields with count < 1...

Or how about changing the PCDReader so that these fields are removed during reading, as if they had never been in the PCD file?

> This is still an issue in 2022. Will that PR be merged? Not with the changes it makes right now. Copied from my earlier comment: > I am not...

Do you have an estimate which parts of `computeTransform` take the most time? I am asking to determine whether it really makes sense to parallelize both for loops like you...

I checked again and the drawing of the random samples (`selectSamples`) should not be done in parallel (calls to `rand()`). That has to either be wrapped in omp critical, or...

> I guess the `estimateRigidTransformation` is also somewhat compute intensive, so the better option is to guard the random sampling? I can't confirm that: In my tests, less than 1%...

To be honest I don't really understand why OpenGL compatibility should be deprecated/removed. PR https://github.com/PointCloudLibrary/pcl/pull/4065 by @SunBlack introduced the deprecation, claiming that we don't loose any compatibility by dropping support...

@theoniko Oh and there are some more deprecated things in filters and registration (see the issue). Would you also remove those, please?