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Livox-SDK / livox_horizon_loam

Livox horizon porting for loam
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Uses up all the memory #9

Open griz1112 opened 4 years ago

griz1112 commented 4 years ago

Noticed that this code uses up all the memory on the Xavier I'm running it on after a period of time? What is causing this? The computer has 16gig. Does it release this memory at some point or does it continue to need more?

PanZhichen commented 4 years ago

If you use rviz for visualization, it will store all points to display the global map, which may cause memory consumption.

huangsiyuan0717 commented 3 years ago

@griz1112 @PanZhichen Hi! I met the same problem, my mem is 16g, I can hardly play a 18 mins data.Do you have a better way to solve this problem?

griz1112 commented 3 years ago

@griz1112 @PanZhichen Hi! I met the same problem, my mem is 16g, I can hardly play a 18 mins data.Do you have a better way to solve this problem?

I don't use the mapping node just the node that creates the pointcloud. Combine that with the output from a zed camera into rtabmap_ros for mapping and the pointcloud from the livox for ros cost maps. Rtabmap uses camera input only for loop closure. The pointcloud node I use is from loam-livox. It keeps everything in memory unlike rtabmap which uses a disk based database to store loop closure info so it doesn't eat up all the memory.

huangsiyuan0717 commented 3 years ago

@griz1112 @PanZhichen Hi! I met the same problem, my mem is 16g, I can hardly play a 18 mins data.Do you have a better way to solve this problem?

I don't use the mapping node just the node that creates the pointcloud. Combine that with the output from a zed camera into rtabmap_ros for mapping and the pointcloud from the livox for ros cost maps. Rtabmap uses camera input only for loop closure. The pointcloud node I use is from loam-livox. It keeps everything in memory unlike rtabmap which uses a disk based database to store loop closure info so it doesn't eat up all the memory.

Hi! Thanks for your great idea. Can you provide some reference materials for your code, I am a new students in slam, just don't how to achieve in code.

griz1112 commented 3 years ago

@griz1112 @PanZhichen Hi! I met the same problem, my mem is 16g, I can hardly play a 18 mins data.Do you have a better way to solve this problem?

I don't use the mapping node just the node that creates the pointcloud. Combine that with the output from a zed camera into rtabmap_ros for mapping and the pointcloud from the livox for ros cost maps. Rtabmap uses camera input only for loop closure. The pointcloud node I use is from loam-livox. It keeps everything in memory unlike rtabmap which uses a disk based database to store loop closure info so it doesn't eat up all the memory.

Hi! Thanks for your great idea. Can you provide some reference materials for your code, I am a new students in slam, just don't how to achieve in code.

You need to grab this package https://github.com/hku-mars/loam_livox/tree/master/ Then edit livox.launch in the launch dir. Remove or comment out this line loam_livox" type="livox_laserMapping" name="livox_laserMapping" output="screen. That stops it from mapping and just gives you the pointcloud. Use that file to launch the package and you will get the pointcloud on the /livox/lidar topic

huangsiyuan0717 commented 3 years ago

Thanks for your sharing!

@griz1112 @PanZhichen Hi! I met the same problem, my mem is 16g, I can hardly play a 18 mins data.Do you have a better way to solve this problem?

I don't use the mapping node just the node that creates the pointcloud. Combine that with the output from a zed camera into rtabmap_ros for mapping and the pointcloud from the livox for ros cost maps. Rtabmap uses camera input only for loop closure. The pointcloud node I use is from loam-livox. It keeps everything in memory unlike rtabmap which uses a disk based database to store loop closure info so it doesn't eat up all the memory.

Hi! Thanks for your great idea. Can you provide some reference materials for your code, I am a new students in slam, just don't how to achieve in code.

You need to grab this package https://github.com/hku-mars/loam_livox/tree/master/ Then edit livox.launch in the launch dir. Remove or comment out this line loam_livox" type="livox_laserMapping" name="livox_laserMapping" output="screen. That stops it from mapping and just gives you the pointcloud. Use that file to launch the package and you will get the pointcloud on the /livox/lidar topic

Thanks for your sharing!

griz1112 commented 3 years ago

Its not my code.