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Skip redundant checks when assigning bytes to uint8[] fields - #273
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Nishant-ZFYII wants to merge 1 commit into
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Every element of a bytes or bytearray is already an int in 0-255, so the per-element field checks can never fail. They just loop over the whole payload, which takes ~180 ms for a 6 MB PointCloud2 when ROS_PYTHON_CHECK_FIELDS=1. Convert it straight to array.array('B') instead. Behaviour is unchanged.
Fixes ros2#156.
Signed-off-by: Nishant-ZFYII <nishantpushparaju@gmail.com>
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Every element of a bytes or bytearray is already an int in 0-255, so the per-element field checks can never fail. They just loop over the whole payload, which takes ~180 ms for a 6 MB PointCloud2 when ROS_PYTHON_CHECK_FIELDS=1. Convert it straight to array.array('B') instead. Behaviour is unchanged.
Fixes #156.
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