Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix: attempted to address non freed memory #206

Open
wants to merge 3 commits into
base: tier4/universe
Choose a base branch
from

Conversation

knzo25
Copy link
Collaborator

@knzo25 knzo25 commented Oct 28, 2024

Description

This PR addressed the large amounts of memory used by the lidar-lidar calibrator.
This is in part due to not freeing some memory until the the program finishes (exits), some PCL magic, and freeing some results before. However, some memory is still not being freed correctly, but fixing that would require PCL modifications that are currently outside of scope.

Related links

Tests performed

  • Calibrated the X2 gen2 vehicle with the sugeested route and profile.
  • Before this PR: 38.6GB of RAM used at the end of the calibration
  • With this PR: 9GB

Notes for reviewers

To review this PR, it needs to be checked that calibration still works (any data is fine) and that the consumed memory decreases (at the end of the calibration)

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

  • The PR follows the pull request guidelines.
  • The PR has been properly tested.
  • The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

  • There are no open discussions or they are tracked via tickets.
  • The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
@codecov-commenter
Copy link

Codecov Report

Attention: Patch coverage is 0% with 97 lines in your changes missing coverage. Please review.

Project coverage is 0.00%. Comparing base (bab5400) to head (5486e50).
Report is 22 commits behind head on tier4/universe.

Files with missing lines Patch % Lines
..._based_calibrator/src/mapping_based_calibrator.cpp 0.00% 48 Missing ⚠️
.../mapping_based_calibrator/src/lidar_calibrator.cpp 0.00% 42 Missing ⚠️
calibrators/mapping_based_calibrator/src/utils.cpp 0.00% 7 Missing ⚠️
Additional details and impacted files
@@                Coverage Diff                @@
##           tier4/universe    #206      +/-   ##
=================================================
- Coverage            0.93%   0.00%   -0.94%     
=================================================
  Files                 270      28     -242     
  Lines               21339    2653   -18686     
  Branches              383     223     -160     
=================================================
- Hits                  200       0     -200     
+ Misses              20982    2653   -18329     
+ Partials              157       0     -157     
Flag Coverage Δ
differential 0.00% <0.00%> (?)
total ?

Flags with carried forward coverage won't be shown. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

Copy link
Contributor

@muraki-t4 muraki-t4 left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

LGTM!

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

Successfully merging this pull request may close these issues.

3 participants