PCL 1.7 does offer some facilities for exploting multiple processing cores on a system using GPU or CPU.
PCL uses multiple CPU cores on a system through the OpenMP API. You can check for multiple core enabled classes by searching PCL documentation for the "OpenMP" keyword (naive, but effective way!). As at the time of writing the reported OpenMP enabled classes are:
- pcl::RangeImage
- pcl::tracking::ParticleFilterOMPTracker
- pcl::FPFHEstimationOMP
- pcl::NormalEstimationOMP
- pcl::Narf
- pcl::tracking::KLDAdaptiveParticleFilterOMPTracker
- pcl::SHOTColorEstimationOMP
- pcl::SHOTEstimationOMP
- pcl::NormalEstimationOMP< PointInT, Eigen::MatrixXf >
If you search the PCL documentation for the GPU or CUDA keywords a similar, but much longer, list of GPU-enabled classes is reported.