sycl_points

A C++ header-only point cloud processing library accelerated with SYCL for heterogeneous computing systems.

Overview

sycl_points provides efficient implementations of common point cloud processing operations using Intel's SYCL (Single-source heterogeneous programming for C++) standard. The library enables accelerated processing on CPUs, Intel iGPU and NVIDIA GPUs supported by SYCL.

This project was developed with reference to small_gicp and gtsam_points

Key features

Efficient point cloud data structures for CPU and accelerator memory
- Data structures accessible from CPU and device kernel
K-nearest neighbor search
- KD-trees
- Brute force
Point cloud registration
- Iterative Closest Point (ICP)
  - Point to Point
  - Point to Plane
  - Generalized ICP (GICP)
- Robust ICP Estimation (HUBER, TUKEY, CAUCHY, GEMAN_MCCLURE)
- Colored ICP
  - Set 0.0 < photometric_weight <= 1.0 in RegistrationParams to blend color residuals with geometric terms. Both clouds must have RGB fields, and the target cloud requires pre-computed color gradients and geometric normal vector.
Preprocessing filter
- L∞ distance (chebyshev distance) filter
- Random sampling
- Farthest point sampling (FPS)
- Voxel grid downsampling
- Polar grid downsampling
Point cloud file I/O
- PLY and PCD format support
- ASCII and binary format reading/writing
- CPU and shared memory interface compatibility

Future optimization work will include

Algorithm refinements for better parallelization

Supported Device

Intel CPU (OpenCL backend)
Intel iGPU (OpenCL backend)
NVIDIA GPU (CUDA backend)

note:

level_zero backend is not supported.
AMD CPU is worked fine but not optimized.
I do not own an AMD GPU, so it is not supported.

Requirements

Eigen
GTest
Intel oneAPI DPC++
- https://www.intel.com/content/www/us/en/docs/oneapi/installation-guide-linux/
Intel oneAPI for NVIDIA® GPUs (optional)
- https://developer.codeplay.com/apt/index.html
Intel GPU Driver (optional)
- https://dgpu-docs.intel.com/driver/client/overview.html

Install dependencies

Eigen and GTest

sudo apt update
sudo apt install libeigen3-dev libgtest-dev

oneAPI DPC++

For the latest information, please refer to the following URL:

https://www.intel.com/content/www/us/en/docs/oneapi/installation-guide-linux/

# download the key to system keyring
wget -O- https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB \
| gpg --dearmor | sudo tee /usr/share/keyrings/oneapi-archive-keyring.gpg > /dev/null

# add signed entry to apt sources and configure the APT client to use Intel repository:
echo "deb [signed-by=/usr/share/keyrings/oneapi-archive-keyring.gpg] https://apt.repos.intel.com/oneapi all main" | sudo tee /etc/apt/sources.list.d/oneAPI.list

# install package
sudo apt update
sudo apt install intel-cpp-essentials

Intel oneAPI for NVIDIA® GPUs (optional)

For the latest information, please refer to the following URL:

https://developer.codeplay.com/apt/index.html

# Add Intel®'s package signing key and APT repository:
sudo wget -O- https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB \ | gpg --dearmor | sudo tee /usr/share/keyrings/oneapi-archive-keyring.gpg > /dev/null && echo "deb [signed-by=/usr/share/keyrings/oneapi-archive-keyring.gpg] https://apt.repos.intel.com/oneapi all main" | sudo tee /etc/apt/sources.list.d/oneAPI.list

# Add Codeplay's package signing key and APT repository:
sudo wget -qO - https://developer.codeplay.com/apt/public.key | gpg --dearmor | sudo tee /usr/share/keyrings/codeplay-keyring.gpg > /dev/null && echo "deb [signed-by=/usr/share/keyrings/codeplay-keyring.gpg] https://developer.codeplay.com/apt all main" | sudo tee /etc/apt/sources.list.d/codeplay.list

# update apt repository
sudo apt update

# install package, specify cuda version
sudo apt purge oneapi-nvidia*
sudo apt install oneapi-nvidia-12.6

Intel GPU Driver (Optional)

For the latest information, please refer to the following URL:

https://dgpu-docs.intel.com/driver/client/overview.html

# add apt repository
sudo apt update
sudo apt install -y software-properties-common
sudo add-apt-repository -y ppa:kobuk-team/intel-graphics

# install compute related packages
sudo apt install -y intel-metrics-discovery intel-opencl-icd clinfo intel-gsc

# install media related packages
sudo apt install -y intel-media-va-driver-non-free libmfx1 libmfx-gen1 libvpl2 libvpl-tools libva-glx2 va-driver-all vainfo

# install OpenCL
sudo apt-get install -y intel-ocloc

# add permission
sudo gpasswd -a ${USER} render
newgrp render

Build and run example

source /opt/intel/oneapi/setvars.sh

# build example
mkdir build && cd build
cmake ..
make

# show device list
sycl-ls

# # example output
# [level_zero:gpu][level_zero:0] Intel(R) oneAPI Unified Runtime over Level-Zero, Intel(R) Graphics 12.70.4 [1.6.33276+22]
# [opencl:cpu][opencl:0] Intel(R) OpenCL, Intel(R) Core(TM) Ultra 7 265K OpenCL 3.0 (Build 0) [2025.19.4.0.18_160000.xmain-hotfix]
# [opencl:gpu][opencl:1] Intel(R) OpenCL Graphics, Intel(R) Graphics OpenCL 3.0 NEO  [25.13.33276]
# [cuda:gpu][cuda:0] NVIDIA CUDA BACKEND, NVIDIA GeForce RTX 3060 8.6 [CUDA 12.9]

# specify the device to be used with `ONEAPI_DEVICE_SELECTOR`
# note: level_zero is not supported.
#       Intel Arc GPU is worked but too slow.

# run example with OpenCL device (iGPU)
ONEAPI_DEVICE_SELECTOR=opencl:1 ./example_registration

# run example with CUDA device
ONEAPI_DEVICE_SELECTOR=cuda:0 ./example_registration

device_query

Intel Core Ultra 7 265K

Platform: Intel(R) OpenCL
        Device: Intel(R) Core(TM) Ultra 7 265K
        type: CPU
        Vendor: Intel(R) Corporation
        VendorID: 32902
        Backend name: opencl
        Backend version: 3.0
        Driver version: 2025.20.6.0.04_224945
        Global Memory Size: 30.7256 GB
        Local Memory Size: 256 KB
        Global Memory Cache Size: 3 MB
        Global Memory Cache Line Size: 64 byte
        Max Memory Allocation Size: 15.3628 GB
        Max Work Group Size: 8192
        Max Work Item Dimensions: 3
        Max Work Item Sizes: [1, 1, 1]
        Max Sub Groups num: 2048
        Sub Group Sizes: [4, 8, 16, 32, 64]
        Max compute units: 20
        Max Clock Frequency: 0 GHz
        Double precision support: true
        Atomic 64bit support: true
        USM host allocations: true
        USM device allocations: true
        USM shared allocations: true
        USM atomic shared allocations: true
        Available: true

Platform: Intel(R) OpenCL Graphics
        Device: Intel(R) Graphics
        type: GPU
        Vendor: Intel(R) Corporation
        VendorID: 32902
        Backend name: opencl
        Backend version: 3.0
        Driver version: 25.27.34303
        Global Memory Size: 28.4426 GB
        Local Memory Size: 64 KB
        Global Memory Cache Size: 4 MB
        Global Memory Cache Line Size: 64 byte
        Max Memory Allocation Size: 3.99999 GB
        Max Work Group Size: 1024
        Max Work Item Dimensions: 3
        Max Work Item Sizes: [1, 1, 1]
        Max Sub Groups num: 128
        Sub Group Sizes: [8, 16, 32]
        Max compute units: 64
        Max Clock Frequency: 2 GHz
        Double precision support: true
        Atomic 64bit support: true
        USM host allocations: true
        USM device allocations: true
        USM shared allocations: true
        USM atomic shared allocations: false
        Available: true

RTX 5060 Ti

Platform: NVIDIA CUDA BACKEND
        Device: NVIDIA GeForce RTX 5060 Ti
        type: GPU
        Vendor: NVIDIA Corporation
        VendorID: 4318
        Backend name: ext_oneapi_cuda
        Backend version: 12.0
        Driver version: CUDA 12.8
        Global Memory Size: 15.4649 GB
        Local Memory Size: 99 KB
        Global Memory Cache Size: 32 MB
        Global Memory Cache Line Size: 128 byte
        Max Memory Allocation Size: 15.4649 GB
        Max Work Group Size: 1024
        Max Work Item Dimensions: 3
        Max Work Item Sizes: [1, 1, 1]
        Max Sub Groups num: 32
        Sub Group Sizes: [32]
        Max compute units: 36
        Max Clock Frequency: 2.692 GHz
        Double precision support: true
        Atomic 64bit support: true
        USM host allocations: true
        USM device allocations: true
        USM shared allocations: true
        USM atomic shared allocations: true
        Available: true

Intel Core i5 12600H

Platform: Intel(R) OpenCL
        Device: 12th Gen Intel(R) Core(TM) i5-12600H
        type: CPU
        Vendor: Intel(R) Corporation
        VendorID: 32902
        Backend name: opencl
        Backend version: 3.0
        Driver version: 2025.20.6.0.04_224945
        Global Memory Size: 31.0784 GB
        Local Memory Size: 256 KB
        Global Memory Cache Size: 1.25 MB
        Global Memory Cache Line Size: 64 byte
        Max Memory Allocation Size: 15.5392 GB
        Max Work Group Size: 8192
        Max Work Item Dimensions: 3
        Max Work Item Sizes: [1, 1, 1]
        Max Sub Groups num: 2048
        Sub Group Sizes: [4, 8, 16, 32, 64]
        Max compute units: 16
        Max Clock Frequency: 0 GHz
        Double precision support: true
        Atomic 64bit support: true
        USM host allocations: true
        USM device allocations: true
        USM shared allocations: true
        USM atomic shared allocations: true
        Available: true

Platform: Intel(R) OpenCL Graphics
        Device: Intel(R) Iris(R) Xe Graphics
        type: GPU
        Vendor: Intel(R) Corporation
        VendorID: 32902
        Backend name: opencl
        Backend version: 3.0
        Driver version: 25.27.34303
        Global Memory Size: 28.7742 GB
        Local Memory Size: 64 KB
        Global Memory Cache Size: 0.46875 MB
        Global Memory Cache Line Size: 64 byte
        Max Memory Allocation Size: 3.99999 GB
        Max Work Group Size: 512
        Max Work Item Dimensions: 3
        Max Work Item Sizes: [1, 1, 1]
        Max Sub Groups num: 64
        Sub Group Sizes: [8, 16, 32]
        Max compute units: 80
        Max Clock Frequency: 1.4 GHz
        Double precision support: false
        Atomic 64bit support: true
        USM host allocations: true
        USM device allocations: true
        USM shared allocations: true
        USM atomic shared allocations: false
        Available: true

License

This library is released under Apache License 2.0

Name		Name	Last commit message	Last commit date
Latest commit History 510 Commits
data		data
examples		examples
include/sycl_points		include/sycl_points
tests		tests
.gitignore		.gitignore
CMakeLists.txt		CMakeLists.txt
LICENSE		LICENSE
README.md		README.md
package.xml		package.xml

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sycl_points

Overview

Key features

Future optimization work will include

Supported Device

Requirements

Install dependencies

Eigen and GTest

oneAPI DPC++

Intel oneAPI for NVIDIA® GPUs (optional)

Intel GPU Driver (Optional)

Build and run example

device_query

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sycl_points

Overview

Key features

Future optimization work will include

Supported Device

Requirements

Install dependencies

Eigen and GTest

oneAPI DPC++

Intel oneAPI for NVIDIA® GPUs (optional)

Intel GPU Driver (Optional)

Build and run example

device_query

License

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