Only numpy version of scan matching, no cycles. Function syntax differs

Scan matching - numpy version

import numpy as np
import scipy

import matplotlib as mpl
import matplotlib.pyplot as plt
mpl.rcParams['figure.figsize'] = (10, 10)

def convert2xy(scans):
    angles_loc = np.deg2rad(np.linspace(-120, 120, 682))
    valid_obj = scans > 0.02
    return (np.array([scans*np.cos(angles_loc), scans*np.sin(angles_loc)]).swapaxes(0, 1).swapaxes(1, 2).reshape(-1, 2)
            , valid_obj.ravel())

def rot(points, angle):
    return np.append([np.cos(angle)*points[:, 0]-np.sin(angle)*points[:, 1]], 
                     [np.sin(angle)*points[:, 0]+np.cos(angle)*points[:, 1]], axis = 0).T
    # pass # rotated_points

def integr(deltas):
    angles =  np.cumsum(np.append([0], deltas[:, 2], axis=0), axis=0)
    return np.append(np.cumsum(np.append([[0, 0]], 
                              rot(deltas[:, :2], angles[1:]), axis = 0), axis=0), 
                    angles.reshape(-1, 1), axis=-1)#trajectory

def plot_points_cloud(trajectory, scans, valid, verbose=True):
    plt.figure()
    x, y, angles = trajectory[:, 0], trajectory[:, 1], trajectory[:, 2]
    if verbose:
        plt.plot(x, y, lw=3, c='blue')
    clouds = rot(scans[valid], np.repeat(angles, 682)[valid]) + (np.repeat(trajectory[:, :2], 682, axis=0))[valid]
    if verbose:
        plt.scatter(clouds[:, 0], 
                    clouds[:, 1], s=0.5, c='r')
    # pass # figure

if __name__ == "__main__":
  scans = np.load("scans.npy")
  deltas = np.load("deltas.npy")
  
  ## No cycles, only numpy, but different function syntax: convert2xy, plot_points_cloud
  import time
  tm = time.time()
  trajectory = integr(deltas)
  xy_scans, valid = convert2xy(scans)
  plot_points_cloud(trajectory, xy_scans, valid, verbose=False)
  print("Past: {} sec".format(time.time() - tm))
  # 0.7 sec if verbose=False -> no plotting only computations
  # 11 sec with plotting ()a lot of points