In my intention to ask the robot to approach a certain position I am kind of stuck with a simple 2d array depth map scan to identify obstacles.
The kinect provides a distance value in a 640 by 480 matrix. In order to create a top view of obstacles in front of the robot for each colum I want the lowest distance value and add that into an obstacle list with (col, distance).
This works in principle but the problem is that my i7 CPU spends arount 7 seconds to simply walk to the 640x480 array,
for col in range(640):
for row in range(480):
i = i+1
tried to use nditer but no speedup. I need this to be at least 10 times faster.
any hint would be welcome