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optimized loops implementation in conversion method to reduce CPU load#47

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kakareko:melodic-devel
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optimized loops implementation in conversion method to reduce CPU load#47
kakareko wants to merge 2 commits into
ros-perception:melodic-develfrom
kakareko:melodic-devel

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The original implementation of the conversion method creates a high CPU load.
I have changed the loops nesting order and moved heavy operations out of the inner loop.

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