I should be a little more clear that I am running all of this on a Pine 64 board (
https://pine64.org), so it won't be as fast as on an Intel chip.
That being said, I don't really know how much CPU time this should take up. My feeling is that there is room for improvement both in the astra driver and in depth_to_pointcloud, but I haven't profiled to find out where the bottlenecks are. Before I went all the way to a GPU, I would profile, find the problem points, and try to optimize those first (this could be as simple as building with optimization and/or NEON turned on, neither of which I'm doing at the moment).
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