Improving performance for ARM7-based platforms

ros-perception / depthimage_to_laserscan

Converts a depth image to a laser scan for use with navigation and localization.

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Open dkargin opened 7 years ago

dkargin commented 7 years ago

most calculations use float instead of double (for NEON instruction set)
column-order calculation, less 'atan2' calls
added tests for performance comparison. 20x faster so far (tests were not so reliable)
added test node to compare both scans from old and new processor