Pixel Cloud Fusion Unnecessary Iterations

[yucedagonurcan]

Bug report

Required information:

• Operating system and version:
  • Ubuntu 18.04
• Autoware installation type:
  • Source Build
• Autoware version or commit hash
  • 15.0 - master branch
• ROS distribution and version:
  • Melodic
• ROS installation type:
  • Binaries

Description of the bug

• After associating the 3D LiDAR points with respective pixels, we are iterating over all the pixels in the frame itself where I am confident that is not necessary.

Steps to reproduce the bug

1. Launch the pixel_cloud_fusion node
2. Launch rviz using rviz
3. Add the /points_fused topic

Expected behavior

1. You will see it is so slow to handle any mid-size images and pointclouds, especially images since main iteration is throug the image coordinates.

Have a great day.