APT-6135: Python point_cloud2.read_points significantly optimized by avoiding per-byte reading #18
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…avoiding per-byte reading
kevmcapro
approved these changes
Nov 18, 2024
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I updated provizio_dds with python3 -m pip install -v git+https://github.com/provizio/provizio_dds.git@feature/APT-6135-point_cloud2.read_points-Optimization to test the optimisation.
For odometry, before optimisation read_points took 23% of processing time and 1.57% after optimisation. For freespace, before optimisation read_points took 31.92% of processing time and 1.81% after optimisation.
The next biggest bottleneck for freespace is the map_coordinates function and one of the for loops in pointc_registration for odometry.
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