Optimized pixel_cloud_fusion by eliminating unnecessary iterations

[yucedagonurcan]

Bug fix

• Related issue: Pixel Cloud Fusion Unnecessary Iterations #63

• Problem is that we are not correctly utilizing this for loop:

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• Let's see how much we are utilizing the loop:

  • =================================================
  • All Pixels to Count(Width x Height or 1440 x 928): 1336320
  • Pixels that We Care(projection_map_.size()): 14416
  • Utilization(All Pixels to Count / Pixels that We Care): %1.07878
  • ==================================================

• Also I have the running average of the iteration part with the help of the swri_profiler:

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  • As you can see it takes around 385ms on average.
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Fix applied

• We can iterate through all the key – value pairs of the map object itself.
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  • Let's see the profiling results, as you can see improvement is from 385ms to 342microseconds.
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New feature implementation

Implementation description