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MIT-SPARK / Kimera-VIO-ROS

ROS wrapper for Kimera-VIO
BSD 2-Clause "Simplified" License
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RAM usage keeps accumlating #69

Closed BarzelS closed 4 years ago

BarzelS commented 4 years ago

Description: RAM memory usage keeps accumlating in a rate of about 20MB per second

Running the Kimera-VIO-ROS with D435i Normal movement around the 2 room and back to the starting point on the table.

Command:

roscore
roslaunch kimera_vio_ros kimera_vio_ros_realsense_IR.launch
rosbag play ~/d435i_recs/my_bag.bag
rviz

Console output:

-----------                        #    Hz  (avg     +- std    )    [min,max]
Data Provider [ms]                    0 
IMU Preintegration Timing [us]     1745 11.5143 (133.979 +- 14.3228)    [86,2735]
Mesher [ms]                         284 1.87226 (21.0669 +- 5.96944)    [3,40]
VioBackEnd [ms]                     284 1.87236 (49.3134 +- 13.4856)    [2,139]
VioFrontEnd [ms]                   1745 11.4843 (56.1456 +- 119.395)    [5,410]
I0510 15:20:52.095813 24526 KimeraVioRos.cpp:99] Statistics

Additional files: ezgif com-video-to-gif

Please give also the following information: SparkVio branch, tag or commit used GTSAM version used: master branch OpenGV version used: master branch OpenCV version used: 3.4.2 Operating system and version (e.g. Ubuntu 16.04 or Windows 10): ubuntu 18.04 Did you change the source code? (yes / no): No, only testlogger.cpp in order to allign with gtsam

Hardware: Both on Jetson TX2 and on Dell G5

ToniRV commented 4 years ago

Hi @shirbarzel,

Thanks for the heads-up. Just to be sure, are you using the OpenCV visualizer or Rviz?

I was also seeing a memory leak a while ago and we figured out it was OpenCV's 3D viz module that was not freeing memory appropriately.

BarzelS commented 4 years ago

Hi @shirbarzel,

Thanks for the heads-up. Just to be sure, are you using the OpenCV visualizer or Rviz?

I was also seeing a memory leak a while ago and we figured out it was OpenCV's 3D viz module that was not freeing memory appropriately.

Hi @ToniRV, thanks for the replay,

Actually the high RAM usage I mentioned was without running Rviz in the background:

image

ToniRV commented 4 years ago

So you also have the --visualize flag set to 0 or false? Meaning, you are not seeing any kind of visualization (OpenCV)?

BarzelS commented 4 years ago

Yes, the default value of the visualize flag in the launch file is set to false(src/Kimera-VIO-ROS/launch/kimera_vio_ros.launch)

violetteavi commented 4 years ago

+1. Running on some simulated data (60Hz, 1024x768), my kimera_vio_ros_node consistently accumulated ~2GB of RAM in 12 seconds. I am using RViz to visualize the feature tracks and transforms. When I shut down RViz and run Kimera, the load drops from 2.5GB -> 1.7GB. Seems like a memory leak on the order of image size every frame.

violetteavi commented 4 years ago

I think I found the reason why my use case is leaking so horribly-- Kimera throttles its output to 30Hz, so half of my frames are getting effectively leaked as the queue backs up.

Changing the publishing rate to 120Hz kept the RAM usage to a manageable 400MB throughout

BarzelS commented 4 years ago

I think I found the reason why my use case is leaking so horribly-- Kimera throttles its output to 30Hz, so half of my frames are getting effectively leaked as the queue backs up.

Changing the publishing rate to 120Hz kept the RAM usage to a manageable 400MB throughout

Hi @violetteavi, thanks for the replay I've changed the param in line 363(Kimera-VIO-ROS/src/RosOnlineDataProvider.cpp) to : ros::Rate rate(120);

But still got huge memory usage accumulating: image

violetteavi commented 4 years ago

My next guess is that the processing speed on your device is not quite fast enough to process the D435i, leading to a backlog of image frames in the input queues. Are you experiencing any time delay between your input images and Kimera's output? This is pretty easy to check by viewing the RealSense image alongside the debug image /kimera_vio_ros/feature_tracks/image_raw.

violetteavi commented 4 years ago

If the debug image looks like it's behind the RealSense image, that means Kimera isn't keeping up with the image stream. You can a) decrease the RealSense framerate to 15Hz, b) tune the Kimera parameters to decrease quality in favor of speed, or c) use a faster processor. I recommend a), because it is simple. You just need to change d435i's rs_camera.launch and the framerates in the LeftCameraParams.yaml and RightCameraParams.yaml.

To check to see if this will actually work, you can also artificially double your computer's processing power by running the bag at half speed 

rosbag play ~/d435i_recs/my_bag.bag -r 0.5
BarzelS commented 4 years ago

My next guess is that the processing speed on your device is not quite fast enough to process the D435i, leading to a backlog of image frames in the input queues. Are you experiencing any time delay between your input images and Kimera's output? This is pretty easy to check by viewing the RealSense image alongside the debug image /kimera_vio_ros/feature_tracks/image_raw.

  1. I'm not experiencing any time delay between my input and the kimera output, the debug image appears pretty stable.

  2. BTW: I turned on verbosity flag in the launch file and I got this output:

_----------- # Hz (avg +- std ) [min,max] Data Provider [ms] 0 IMU Preintegration Timing [us] 4434 30.0094 (27.7161 +- 6.52376) [20,179] VioBackEnd [ms] 734 4.9707 (1.73978 +- 0.4) [0,10] VioFrontEnd [ms] 4434 29.9895 (10.5474 +- 15.1792) [3,80] I0512 19:26:40.121872 10296 StereoVisionFrontEnd.cpp:83] ------------------- Processing frame k = 4436-------------------- W0512 19:26:40.121872 10229 PipelineModule.h:220] Module: Data Provider - No Input received. I0512 19:26:40.121922 10296 StereoVisionFrontEnd.cpp:107] Current IMU Preintegration frequency: 344828 Hz. (29 us). I0512 19:26:40.125460 10296 Tracker.cpp:123] Optical Flow Timing [ms]: 2 W0512 19:26:40.158215 10229 PipelineModule.h:220] Module: Data Provider - No Input received. I0512 19:26:40.166760 10296 FeatureDetector.cpp:180] Number of points detected : 800 I0512 19:26:40.166776 10296 FeatureDetector.cpp:192] Need n corners: 87 I0512 19:26:40.166806 10296 NonMaximumSuppression.cpp:87] Running RangeTree: 4 I0512 19:26:40.167212 10296 NonMaximumSuppression.cpp:105] Non Maximum Suppression Timing [ms]: 0 I0512 19:26:40.173795 10296 FeatureDetector.cpp:236] Corner Sub Pixel Refinement Timing [ms]: 6 I0512 19:26:40.178676 10296 StereoVisionFrontEnd.cpp:146] Keyframe 4436 with: 791 smart measurements I0512 19:26:40.178715 10296 ThreadsafeQueue.h:270] Queue with id: Frame Rate Frontend output ROS is getting full, size: 4426 I0512 19:26:40.178722 10296 ThreadsafeQueue.h:270] Queue with id: Keyframe Rate Frontend output ROS is getting full, size: 732 I0512 19:26:40.178730 10296 StereoVisionFrontEnd.cpp:83] ------------------- Processing frame k = 4437-------------------- I0512 19:26:40.178771 10296 StereoVisionFrontEnd.cpp:107] Current IMU Preintegration frequency: 285714 Hz. (35 us). I0512 19:26:40.178915 10298 RegularVioBackEnd.cpp:212] Tracker has a LOWDISPARITY status. I0512 19:26:40.180821 10298 VioBackEnd.cpp:1181] Backend: Update IMU Bias. I0512 19:26:40.180860 10298 ThreadsafeQueue.h:270] Queue with id: Backend output ROS is getting full, size: 732 I0512 19:26:40.182718 10296 Tracker.cpp:123] Optical Flow Timing [ms]: 3 I0512 19:26:40.184615 10296 ThreadsafeQueue.h:270] Queue with id: Frame Rate Frontend output ROS is getting full, size: 4427 I0512 19:26:40.192183 10296 StereoVisionFrontEnd.cpp:83] ------------------- Processing frame k = 4438--------------------

I saw in the other issue that you mentioned the bold lines, what does it mean? What can I do in order to fix it?

violetteavi commented 4 years ago

! Wow! I'm pretty sure Backend output ROS is where Kimera-VIO puts keyframes that it has processed. If you have 732 frames in that queue, Kimera is running fast enough but you have a serious publishing backlog. I'm not sure how that would happen except if your publishing rate is super slow-- you did change it to 120Hz, right?

BarzelS commented 4 years ago

! Wow! I'm pretty sure Backend output ROS is where Kimera-VIO puts keyframes that it has processed. If you have 732 frames in that queue, Kimera is running fast enough but you have a serious publishing backlog. I'm not sure how that would happen except if your publishing rate is super slow-- you did change it to 120Hz, right?

Yes changed line 363 in src/Kimera-VIO-ROS/src/RosOnlineDataProvider.cpp to:

ros::Rate rate(120);

BarzelS commented 4 years ago

I tried valgrind and thats the result:

my_executable_heap_profiling.pdf

violetteavi commented 4 years ago

This confirms what I suspected-- 90% RAM usage is from the creation of the stereo image packet. 90PercentOfMemoryIsFromBacklog

Pair this with the queue logs you posted, and I think the images are getting processed all the way through and just not published. Fortunately, the latest PR introduced asynchronous publishing from VIO callbacks. Can you pull VIO and VIO-ROS master, rebuild, and try it again?

ToniRV commented 4 years ago

By the way, touching on the heap profiling, it would be ideal if we managed to get rid of the copy of the images in the readRosImage function, but that is currently not possible (I think, maybe it's fixed now), because something in the frontend might be modifying the images or something (you can try to switch off the copying of the images and just use the pointers, but that leads to weird behaviour).

BarzelS commented 4 years ago

This confirms what I suspected-- 90% RAM usage is from the creation of the stereo image packet. 90PercentOfMemoryIsFromBacklog

Pair this with the queue logs you posted, and I think the images are getting processed all the way through and just not published. Fortunately, the latest PR introduced asynchronous publishing from VIO callbacks. Can you pull VIO and VIO-ROS master, rebuild, and try it again?

Thanks! But after I pulled I got this compilation error:

/home/shir/catkin_ws/build/kimera_vio/testKimeraVIO: symbol lookup error: /home/shir/catkin_ws/build/kimera_vio/testKimeraVIO: undefined symbol: _ZN3VIO7TrackerC1ERKNS_14FrontendParamsERKNS_12CameraParamsEPNS_15ThreadsafeQueueISt10unique_ptrINS_16DisplayInputBaseESt14default_deleteIS9_EEEE CMake Error at /usr/share/cmake-3.10/Modules/GoogleTestAddTests.cmake:39 (message): Error running test executable.

For now I commented the tests in the cmakelists file

Update: Thanks!! the RAM usage now looks much much better after I pulled!

But, after a short time I got this error msgs and all the pipeline got stuck:

E0513 21:46:36.629834 3909 Mesher.cpp:1668] Keypoints supposedly inside the image: E0513 21:46:36.629870 3909 Mesher.cpp:1670] x: 515.911, y: 392.432 E0513 21:46:36.629881 3909 Mesher.cpp:1670] x: 228, y: 281 E0513 21:46:36.629891 3909 Mesher.cpp:1670] x: 117, y: 116 E0513 21:46:36.629901 3909 Mesher.cpp:1670] x: 152, y: 54 E0513 21:46:36.629907 3909 Mesher.cpp:1670] x: 347.119, y: 360.049 E0513 21:46:36.629914 3909 Mesher.cpp:1670] x: 134, y: 222 E0513 21:46:36.629935 3909 Mesher.cpp:1670] x: 503, y: 211 E0513 21:46:36.629961 3909 Mesher.cpp:1670] x: 280.655, y: 101.233 E0513 21:46:36.629968 3909 Mesher.cpp:1670] x: 127, y: 48 E0513 21:46:36.629992 3909 Mesher.cpp:1670] x: 489, y: 258 E0513 21:46:36.629997 3909 Mesher.cpp:1670] x: 227, y: 8 E0513 21:46:36.630004 3909 Mesher.cpp:1670] x: 165.336, y: 411.89 E0513 21:46:36.630012 3909 Mesher.cpp:1670] x: 408.988, y: 372.457 E0513 21:46:36.630018 3909 Mesher.cpp:1670] x: 492, y: 234 E0513 21:46:36.630026 3909 Mesher.cpp:1670] x: 211.646, y: 281.072 E0513 21:46:36.630033 3909 Mesher.cpp:1670] x: 141, y: 337 E0513 21:46:36.630059 3909 Mesher.cpp:1670] x: 273.718, y: 286.706 E0513 21:46:36.630066 3909 Mesher.cpp:1670] x: 295.961, y: 357.657 E0513 21:46:36.630074 3909 Mesher.cpp:1670] x: 150, y: 331 E0513 21:46:36.630079 3909 Mesher.cpp:1670] x: 285, y: 287 E0513 21:46:36.630086 3909 Mesher.cpp:1670] x: 136, y: 45 E0513 21:46:36.630093 3909 Mesher.cpp:1670] x: 422, y: 247 E0513 21:46:36.630101 3909 Mesher.cpp:1670] x: 235, y: 256 E0513 21:46:36.630111 3909 Mesher.cpp:1670] x: 299, y: 73 E0513 21:46:36.630120 3909 Mesher.cpp:1670] x: 191, y: 279 E0513 21:46:36.630126 3909 Mesher.cpp:1670] x: 473, y: 39 E0513 21:46:36.630133 3909 Mesher.cpp:1670] x: 68.86, y: 311.786 E0513 21:46:36.630141 3909 Mesher.cpp:1670] x: 204.073, y: 75.5732 E0513 21:46:36.630147 3909 Mesher.cpp:1670] x: 120, y: 126 E0513 21:46:36.630154 3909 Mesher.cpp:1670] x: 93, y: 453 E0513 21:46:36.630162 3909 Mesher.cpp:1670] x: 446, y: 249 E0513 21:46:36.630168 3909 Mesher.cpp:1670] x: 69.7736, y: 295.884 E0513 21:46:36.630177 3909 Mesher.cpp:1670] x: 122, y: 96 E0513 21:46:36.630183 3909 Mesher.cpp:1670] x: 147, y: 68 E0513 21:46:36.630189 3909 Mesher.cpp:1670] x: 199, y: 187 E0513 21:46:36.630198 3909 Mesher.cpp:1670] x: 367, y: 273 E0513 21:46:36.630204 3909 Mesher.cpp:1670] x: 450.498, y: 229.4 E0513 21:46:36.630211 3909 Mesher.cpp:1670] x: 122, y: 360 E0513 21:46:36.630220 3909 Mesher.cpp:1670] x: 277, y: 137 E0513 21:46:36.630226 3909 Mesher.cpp:1670] x: 423.181, y: 75.8536 E0513 21:46:36.630234 3909 Mesher.cpp:1670] x: 137, y: 31 E0513 21:46:36.630241 3909 Mesher.cpp:1670] x: 460, y: 102 E0513 21:46:36.630249 3909 Mesher.cpp:1670] x: 68, y: 377 E0513 21:46:36.630255 3909 Mesher.cpp:1670] x: 106, y: 209 E0513 21:46:36.630262 3909 Mesher.cpp:1670] x: 141, y: 246 E0513 21:46:36.630270 3909 Mesher.cpp:1670] x: 157, y: 10 E0513 21:46:36.630275 3909 Mesher.cpp:1670] x: 352, y: 272 E0513 21:46:36.630282 3909 Mesher.cpp:1670] x: 470, y: 150 E0513 21:46:36.630306 3909 Mesher.cpp:1670] x: 485.572, y: 216.766 E0513 21:46:36.630312 3909 Mesher.cpp:1670] x: 474, y: 25 E0513 21:46:36.630318 3909 Mesher.cpp:1670] x: 475, y: 61 E0513 21:46:36.630324 3909 Mesher.cpp:1670] x: 323, y: 74 E0513 21:46:36.630331 3909 Mesher.cpp:1670] x: 472, y: 13 E0513 21:46:36.630336 3909 Mesher.cpp:1670] x: 89, y: 333 E0513 21:46:36.630344 3909 Mesher.cpp:1670] x: 346, y: 6 E0513 21:46:36.630352 3909 Mesher.cpp:1670] x: 280, y: 148 E0513 21:46:36.630357 3909 Mesher.cpp:1670] x: 393.89, y: 275.197 E0513 21:46:36.630364 3909 Mesher.cpp:1670] x: 103.192, y: 329.776 E0513 21:46:36.630373 3909 Mesher.cpp:1670] x: 282, y: 11 E0513 21:46:36.630378 3909 Mesher.cpp:1670] x: 276.983, y: 191.104 E0513 21:46:36.630385 3909 Mesher.cpp:1670] x: 267, y: 268 E0513 21:46:36.630393 3909 Mesher.cpp:1670] x: 348.254, y: 30.795 E0513 21:46:36.630398 3909 Mesher.cpp:1670] x: 275, y: 176 E0513 21:46:36.630405 3909 Mesher.cpp:1670] x: 279, y: 117 E0513 21:46:36.630411 3909 Mesher.cpp:1670] x: 128.687, y: 396.24 E0513 21:46:36.630419 3909 Mesher.cpp:1670] x: 297, y: 135 E0513 21:46:36.630425 3909 Mesher.cpp:1670] x: 281, y: 68 E0513 21:46:36.630432 3909 Mesher.cpp:1670] x: 323, y: 83 E0513 21:46:36.630439 3909 Mesher.cpp:1670] x: 183, y: 65 E0513 21:46:36.630446 3909 Mesher.cpp:1670] x: 376, y: 274 E0513 21:46:36.630453 3909 Mesher.cpp:1670] x: 237.132, y: 339.67 E0513 21:46:36.630460 3909 Mesher.cpp:1670] x: 163, y: 53 E0513 21:46:36.630467 3909 Mesher.cpp:1670] x: 321, y: 62 E0513 21:46:36.630475 3909 Mesher.cpp:1670] x: 69.776, y: 295.883 E0513 21:46:36.630481 3909 Mesher.cpp:1670] x: 216, y: 184 E0513 21:46:36.630487 3909 Mesher.cpp:1670] x: 234, y: 71 E0513 21:46:36.630494 3909 Mesher.cpp:1670] x: 451, y: 13 E0513 21:46:36.630501 3909 Mesher.cpp:1670] x: 163, y: 143 E0513 21:46:36.630508 3909 Mesher.cpp:1670] x: 237.978, y: 10.5119 E0513 21:46:36.630517 3909 Mesher.cpp:1670] x: 200.079, y: 41.4863 E0513 21:46:36.630523 3909 Mesher.cpp:1670] x: 162, y: 79 E0513 21:46:36.630530 3909 Mesher.cpp:1670] x: 300, y: 165 E0513 21:46:36.630559 3909 Mesher.cpp:1670] x: 257, y: 179 E0513 21:46:36.630568 3909 Mesher.cpp:1670] x: 328, y: 271 E0513 21:46:36.630574 3909 Mesher.cpp:1670] x: 144.806, y: 237.902 E0513 21:46:36.630581 3909 Mesher.cpp:1670] x: 159.985, y: 194.34 E0513 21:46:36.630589 3909 Mesher.cpp:1670] x: 223, y: 265 E0513 21:46:36.630611 3909 Mesher.cpp:1670] x: 276.782, y: 51.1736 E0513 21:46:36.630617 3909 Mesher.cpp:1670] x: 222, y: 56 E0513 21:46:36.630625 3909 Mesher.cpp:1670] x: 245, y: 266 E0513 21:46:36.630631 3909 Mesher.cpp:1670] x: 282, y: 37 E0513 21:46:36.630637 3909 Mesher.cpp:1670] x: 270, y: 21 E0513 21:46:36.630645 3909 Mesher.cpp:1670] x: 269, y: 84 E0513 21:46:36.630651 3909 Mesher.cpp:1670] x: 233, y: 27 E0513 21:46:36.630658 3909 Mesher.cpp:1670] x: 337, y: 33 E0513 21:46:36.630666 3909 Mesher.cpp:1670] x: 102.247, y: 354.854 E0513 21:46:36.630671 3909 Mesher.cpp:1670] x: 365, y: 261 E0513 21:46:36.630679 3909 Mesher.cpp:1670] x: 280, y: 268 E0513 21:46:36.630686 3909 Mesher.cpp:1670] x: 244, y: 139 E0513 21:46:36.630692 3909 Mesher.cpp:1670] x: 268, y: 123 E0513 21:46:36.630699 3909 Mesher.cpp:1670] x: 347, y: 18 E0513 21:46:36.630705 3909 Mesher.cpp:1670] x: 378.321, y: 15.2241 E0513 21:46:36.630712 3909 Mesher.cpp:1670] x: 418.181, y: 191.523 E0513 21:46:36.630717 3909 Mesher.cpp:1670] x: 164, y: 66 E0513 21:46:36.630724 3909 Mesher.cpp:1670] x: 485.572, y: 216.766 E0513 21:46:36.630731 3909 Mesher.cpp:1670] x: 252, y: 69 E0513 21:46:36.630738 3909 Mesher.cpp:1670] x: 298.292, y: 201.41 E0513 21:46:36.630744 3909 Mesher.cpp:1670] x: 312, y: 137 E0513 21:46:36.630751 3909 Mesher.cpp:1670] x: 177.743, y: 27.3114 E0513 21:46:36.630758 3909 Mesher.cpp:1670] x: 315, y: 95 E0513 21:46:36.630764 3909 Mesher.cpp:1670] x: 351, y: 260 E0513 21:46:36.630771 3909 Mesher.cpp:1670] x: 204.073, y: 75.5733 E0513 21:46:36.630777 3909 Mesher.cpp:1670] x: 217, y: 98 E0513 21:46:36.630784 3909 Mesher.cpp:1670] x: 179.764, y: 134.684 E0513 21:46:36.630790 3909 Mesher.cpp:1670] x: 179.764, y: 134.684 E0513 21:46:36.630796 3909 Mesher.cpp:1670] x: 225.895, y: 82.5522 E0513 21:46:36.630803 3909 Mesher.cpp:1670] x: 348.254, y: 30.795 E0513 21:46:36.630810 3909 Mesher.cpp:1670] x: 264, y: 67 E0513 21:46:36.630817 3909 Mesher.cpp:1670] x: 276.434, y: 52.1787 E0513 21:46:36.630825 3909 Mesher.cpp:1670] x: 303, y: 19 E0513 21:46:36.630831 3909 Mesher.cpp:1670] x: 260, y: 30 E0513 21:46:36.630839 3909 Mesher.cpp:1670] x: 70.1034, y: 340.257 E0513 21:46:36.630846 3909 Mesher.cpp:1670] x: 214, y: 161 E0513 21:46:36.630851 3909 Mesher.cpp:1670] x: 227.081, y: 146.515 E0513 21:46:36.630857 3909 Mesher.cpp:1670] x: 175.292, y: 196.688 E0513 21:46:36.630864 3909 Mesher.cpp:1670] x: 198, y: 200 E0513 21:46:36.630870 3909 Mesher.cpp:1670] x: 309, y: 68 E0513 21:46:36.630877 3909 Mesher.cpp:1670] x: 320.349, y: 35.0178 E0513 21:46:36.630884 3909 Mesher.cpp:1670] x: 317.991, y: 5.90774 E0513 21:46:36.630892 3909 Mesher.cpp:1670] x: 300.307, y: 83.6972 E0513 21:46:36.630898 3909 Mesher.cpp:1670] x: 174, y: 132 E0513 21:46:36.630905 3909 Mesher.cpp:1670] x: 307, y: 213 E0513 21:46:36.630913 3909 Mesher.cpp:1670] x: 299.587, y: 123.221 E0513 21:46:36.630920 3909 Mesher.cpp:1670] x: 200.08, y: 41.4859 E0513 21:46:36.630926 3909 Mesher.cpp:1670] x: 322, y: 214 E0513 21:46:36.630934 3909 Mesher.cpp:1670] x: 185, y: 149 E0513 21:46:36.630939 3909 Mesher.cpp:1670] x: 320.349, y: 35.0178 E0513 21:46:36.630946 3909 Mesher.cpp:1670] x: 182.253, y: 43.4831 E0513 21:46:36.630954 3909 Mesher.cpp:1670] x: 310, y: 148 E0513 21:46:36.630959 3909 Mesher.cpp:1670] x: 211.663, y: 213.645 E0513 21:46:36.630966 3909 Mesher.cpp:1670] x: 183, y: 88 E0513 21:46:36.630972 3909 Mesher.cpp:1670] x: 297.932, y: 170.548 E0513 21:46:36.630978 3909 Mesher.cpp:1670] x: 312, y: 162 E0513 21:46:36.630985 3909 Mesher.cpp:1670] x: 264, y: 147 E0513 21:46:36.630992 3909 Mesher.cpp:1670] x: 174.93, y: 77.2127 E0513 21:46:36.630998 3909 Mesher.cpp:1670] x: 220.337, y: 39.6882 E0513 21:46:36.631006 3909 Mesher.cpp:1670] x: 339, y: 253 E0513 21:46:36.631012 3909 Mesher.cpp:1670] x: 200.079, y: 41.4862 E0513 21:46:36.631019 3909 Mesher.cpp:1670] x: 234.115, y: 158.538 E0513 21:46:36.631047 3909 Mesher.cpp:1670] x: 300.63, y: 39.9396 E0513 21:46:36.631053 3909 Mesher.cpp:1670] x: 173, y: 79 E0513 21:46:36.631060 3909 Mesher.cpp:1670] x: 320.349, y: 35.0184 E0513 21:46:36.631067 3909 Mesher.cpp:1670] x: 383.662, y: 275.799 E0513 21:46:36.631088 3909 Mesher.cpp:1670] x: 442.038, y: 151.179 E0513 21:46:36.631094 3909 Mesher.cpp:1670] x: 129.547, y: 199.77 E0513 21:46:36.631100 3909 Mesher.cpp:1670] x: 86.8101, y: 319.245 E0513 21:46:36.631108 3909 Mesher.cpp:1670] x: 437.117, y: 263.151 E0513 21:46:36.631114 3909 Mesher.cpp:1670] x: 477.276, y: 190.758 E0513 21:46:36.631121 3909 Mesher.cpp:1670] x: 277.097, y: 212.766 E0513 21:46:36.631127 3909 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y: 203.854 E0513 21:46:36.633940 3909 Mesher.cpp:1670] x: 236.007, y: 204.106 E0513 21:46:36.633947 3909 Mesher.cpp:1670] x: 216.508, y: 215.012 E0513 21:46:36.633955 3909 Mesher.cpp:1670] x: 181.155, y: 118.788 E0513 21:46:36.633960 3909 Mesher.cpp:1670] x: 449.937, y: 72.835 E0513 21:46:36.633967 3909 Mesher.cpp:1670] x: 250.006, y: 114.171 E0513 21:46:36.633975 3909 Mesher.cpp:1670] x: 414.193, y: 227.361 E0513 21:46:36.633981 3909 Mesher.cpp:1670] x: 435.922, y: 98.5655 E0513 21:46:36.633988 3909 Mesher.cpp:1670] x: 142.072, y: 208.06 E0513 21:46:36.633996 3909 Mesher.cpp:1670] x: 479.523, y: 147.082 E0513 21:46:36.634001 3909 Mesher.cpp:1670] x: 451.641, y: 104.111 E0513 21:46:36.634007 3909 Mesher.cpp:1670] x: 452.191, y: 118.025 E0513 21:46:36.634014 3909 Mesher.cpp:1670] x: 158.872, y: 238.788 E0513 21:46:36.634021 3909 Mesher.cpp:1670] x: 155.948, y: 261.854 E0513 21:46:36.634027 3909 Mesher.cpp:1670] x: 155.948, y: 261.854 E0513 21:46:36.634032 3909 Mesher.cpp:1670] x: 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186.006, y: 158.265 E0513 21:46:36.634143 3909 Mesher.cpp:1670] x: 187.352, y: 205.737 E0513 21:46:36.634150 3909 Mesher.cpp:1670] x: 483.551, y: 217.453 E0513 21:46:36.634155 3909 Mesher.cpp:1670] x: 195.307, y: 252.343 E0513 21:46:36.634162 3909 Mesher.cpp:1670] x: 186.246, y: 366.399 E0513 21:46:36.634169 3909 Mesher.cpp:1670] x: 258.362, y: 171.208 E0513 21:46:36.634176 3909 Mesher.cpp:1670] x: 450.4, y: 84.0921 E0513 21:46:36.634182 3909 Mesher.cpp:1670] x: 196.539, y: 240.901 E0513 21:46:36.634189 3909 Mesher.cpp:1670] x: 439.538, y: 130.66 E0513 21:46:36.634196 3909 Mesher.cpp:1670] x: 160.749, y: 109.199 E0513 21:46:36.634202 3909 Mesher.cpp:1670] x: 397.2, y: 290.077 E0513 21:46:36.634208 3909 Mesher.cpp:1670] x: 423.679, y: 201.722 E0513 21:46:36.634214 3909 Mesher.cpp:1670] x: 161.623, y: 158.742 E0513 21:46:36.634222 3909 Mesher.cpp:1670] x: 180.466, y: 251.54 E0513 21:46:36.634227 3909 Mesher.cpp:1670] x: 180.133, y: 241.785 E0513 21:46:36.634233 3909 Mesher.cpp:1670] x: 200.41, y: 242.444 E0513 21:46:36.634239 3909 Mesher.cpp:1670] x: 440.754, y: 185.771 E0513 21:46:36.634246 3909 Mesher.cpp:1670] x: 428.651, y: 85.316 E0513 21:46:36.634253 3909 Mesher.cpp:1670] x: 449.677, y: 204.785 E0513 21:46:36.634260 3909 Mesher.cpp:1670] x: 143.386, y: 157.732 E0513 21:46:36.634266 3909 Mesher.cpp:1670] x: 433.359, y: 199.457 E0513 21:46:36.634274 3909 Mesher.cpp:1670] x: 433.752, y: 188.28 E0513 21:46:36.634280 3909 Mesher.cpp:1670] x: 443.019, y: 163.211 E0513 21:46:36.634287 3909 Mesher.cpp:1670] x: 279.552, y: 167.866 E0513 21:46:36.634294 3909 Mesher.cpp:1670] x: 473.616, y: 160.694 E0513 21:46:36.634301 3909 Mesher.cpp:1670] x: 468.642, y: 132.708 E0513 21:46:36.634308 3909 Mesher.cpp:1670] x: 432.956, y: 105.186 E0513 21:46:36.634315 3909 Mesher.cpp:1670] x: 469.423, y: 110.795 E0513 21:46:36.634322 3909 Mesher.cpp:1670] x: 212.92, y: 229.353 E0513 21:46:36.634330 3909 Mesher.cpp:1670] x: 277.234, y: 218.174 E0513 21:46:36.634351 3909 Mesher.cpp:1670] x: 476.498, y: 183.227 E0513 21:46:36.634358 3909 Mesher.cpp:1670] x: 142.59, y: 196.955 E0513 21:46:36.634366 3909 Mesher.cpp:1670] x: 177.384, y: 261.088 E0513 21:46:36.634373 3909 Mesher.cpp:1670] x: 439.404, y: 208.602 E0513 21:46:36.634380 3909 Mesher.cpp:1670] x: 429.835, y: 280.398 E0513 21:46:36.634387 3909 Mesher.cpp:1670] x: 115.772, y: 214.087 E0513 21:46:36.634394 3909 Mesher.cpp:1670] x: 459.281, y: 114.884 E0513 21:46:36.634402 3909 Mesher.cpp:1670] x: 416.688, y: 207.948 E0513 21:46:36.634408 3909 Mesher.cpp:1670] x: 439.183, y: 218.103 E0513 21:46:36.634415 3909 Mesher.cpp:1670] x: 436.674, y: 69.4235 E0513 21:46:36.634439 3909 Mesher.cpp:1670] x: 112.079, y: 203.134 E0513 21:46:36.634446 3909 Mesher.cpp:1670] x: 181.705, y: 279.255 E0513 21:46:36.634452 3909 Mesher.cpp:1670] x: 420.49, y: 289.13 E0513 21:46:36.634460 3909 Mesher.cpp:1670] x: 470.234, y: 205.256 E0513 21:46:36.634467 3909 Mesher.cpp:1670] x: 450.12, y: 273.17 E0513 21:46:36.634474 3909 Mesher.cpp:1670] x: 177.761, y: 27.5462 E0513 21:46:36.634480 3909 Mesher.cpp:1670] x: 197.457, y: 20.6786 E0513 21:46:36.634487 3909 Mesher.cpp:1670] x: 237.687, y: 11.0626 E0513 21:46:36.634495 3909 Mesher.cpp:1670] x: 175.799, y: 193.935 E0513 21:46:36.634501 3909 Mesher.cpp:1670] x: 162.317, y: 32.6909 E0513 21:46:36.634508 3909 Mesher.cpp:1670] x: 225.925, y: 148.924 E0513 21:46:36.634516 3909 Mesher.cpp:1670] x: 251.845, y: 152.254 E0513 21:46:36.634542 3909 Mesher.cpp:1670] x: 316.201, y: 175.267 E0513 21:46:36.634549 3909 Mesher.cpp:1670] x: 225.926, y: 148.923 E0513 21:46:36.634557 3909 Mesher.cpp:1670] x: 217.196, y: 16.0749 E0513 21:46:36.634564 3909 Mesher.cpp:1670] x: 291.202, y: 101.353 E0513 21:46:36.634584 3909 Mesher.cpp:1670] x: 162.317, y: 32.6911 E0513 21:46:36.634591 3909 Mesher.cpp:1670] x: 176.71, y: 154.867 E0513 21:46:36.634598 3909 Mesher.cpp:1670] x: 251.799, y: 131.194 E0513 21:46:36.634605 3909 Mesher.cpp:1670] x: 366.137, y: 244.301 E0513 21:46:36.634611 3909 Mesher.cpp:1670] x: 484.948, y: 216.957 E0513 21:46:36.634618 3909 Mesher.cpp:1670] x: 201.747, y: 61.1974 E0513 21:46:36.634625 3909 Mesher.cpp:1670] x: 178.444, y: 117.79 E0513 21:46:36.634632 3909 Mesher.cpp:1670] x: 355.246, y: 205.772 E0513 21:46:36.634639 3909 Mesher.cpp:1670] x: 91.8459, y: 312.261 E0513 21:46:36.634646 3909 Mesher.cpp:1670] x: 198.083, y: 240.872 E0513 21:46:36.634652 3909 Mesher.cpp:1670] x: 291.258, y: 268.831 E0513 21:46:36.634660 3909 Mesher.cpp:1670] x: 162.317, y: 32.6917 E0513 21:46:36.634666 3909 Mesher.cpp:1670] x: 373.43, y: 189.528 E0513 21:46:36.634673 3909 Mesher.cpp:1670] x: 260.584, y: 18.7032 E0513 21:46:36.634680 3909 Mesher.cpp:1670] x: 258.784, y: 88.6001 E0513 21:46:36.634687 3909 Mesher.cpp:1670] x: 103.066, y: 329.81 E0513 21:46:36.634694 3909 Mesher.cpp:1670] x: 436.695, y: 111.181 E0513 21:46:36.634702 3909 Mesher.cpp:1670] x: 190.665, y: 397.426 E0513 21:46:36.634709 3909 Mesher.cpp:1670] x: 281.929, y: 257.352 E0513 21:46:36.634716 3909 Mesher.cpp:1670] x: 202.284, y: 263.328 E0513 21:46:36.634723 3909 Mesher.cpp:1670] x: 69.1132, y: 312.151 E0513 21:46:36.634730 3909 Mesher.cpp:1670] x: 203.383, y: 98.7041 E0513 21:46:36.634737 3909 Mesher.cpp:1670] x: 231.556, y: 119.73 E0513 21:46:36.634743 3909 Mesher.cpp:1670] x: 435.762, y: 50.4504 E0513 21:46:36.634752 3909 Mesher.cpp:1670] x: 227.563, y: 95.3949 E0513 21:46:36.634758 3909 Mesher.cpp:1670] x: 269.548, y: 11.3123 E0513 21:46:36.634765 3909 Mesher.cpp:1670] x: 107.951, y: 391.263 E0513 21:46:36.634773 3909 Mesher.cpp:1670] x: 273.019, y: 241.02 E0513 21:46:36.634779 3909 Mesher.cpp:1670] x: 428.262, y: 171.682 E0513 21:46:36.634788 3909 Mesher.cpp:1670] x: 158.703, y: 238.6 E0513 21:46:36.634794 3909 Mesher.cpp:1670] x: 168.043, y: 191.666 E0513 21:46:36.634801 3909 Mesher.cpp:1670] x: 160.695, y: 89.4148 E0513 21:46:36.634809 3909 Mesher.cpp:1670] x: 424.218, y: 114.233 E0513 21:46:36.634814 3909 Mesher.cpp:1670] x: 174.898, y: 54.6038 E0513 21:46:36.634821 3909 Mesher.cpp:1670] x: 431.687, y: 19.6958 E0513 21:46:36.634829 3909 Mesher.cpp:1670] x: 459.331, y: 162.475 E0513 21:46:36.634835 3909 Mesher.cpp:1670] x: 274.721, y: 162.645 E0513 21:46:36.634840 3909 Mesher.cpp:1670] x: 429.921, y: 45.8174 E0513 21:46:36.634847 3909 Mesher.cpp:1670] x: 103.067, y: 329.809 E0513 21:46:36.634855 3909 Mesher.cpp:1670] x: 425.089, y: 150.269 E0513 21:46:36.634860 3909 Mesher.cpp:1670] x: 443.505, y: 42.9775 E0513 21:46:36.634866 3909 Mesher.cpp:1670] x: 451.447, y: 49.0474 E0513 21:46:36.634873 3909 Mesher.cpp:1670] x: 459.365, y: 148.182 E0513 21:46:36.634881 3909 Mesher.cpp:1670] x: 460.335, y: 218.875 E0513 21:46:36.634887 3909 Mesher.cpp:1670] x: 143.587, y: 83.3353 E0513 21:46:36.634896 3909 Mesher.cpp:1670] x: 55.7645, y: 269.908 E0513 21:46:36.634902 3909 Mesher.cpp:1670] x: 443.505, y: 52.3143 E0513 21:46:36.634909 3909 Mesher.cpp:1670] x: 113.41, y: 334.975 E0513 21:46:36.634915 3909 Mesher.cpp:1670] x: 273.016, y: 241.019 E0513 21:46:36.634923 3909 Mesher.cpp:1670] x: 428.552, y: 265.264 E0513 21:46:36.634929 3909 Mesher.cpp:1670] x: 451.423, y: 159.949 E0513 21:46:36.634934 3909 Mesher.cpp:1670] x: 452.005, y: 99.2533 E0513 21:46:36.634941 3909 Mesher.cpp:1670] x: 359.968, y: 221.897 E0513 21:46:36.634948 3909 Mesher.cpp:1670] x: 445.536, y: 395.678 E0513 21:46:36.634956 3909 Mesher.cpp:1670] x: 424.218, y: 114.233 E0513 21:46:36.634963 3909 Mesher.cpp:1670] x: 141.459, y: 164.865 E0513 21:46:36.634969 3909 Mesher.cpp:1670] x: 142.588, y: 126.095 E0513 21:46:36.634977 3909 Mesher.cpp:1672] CreateMesh2D: subdiv.insert error (2). A point is outside of the triangulation specified rect... Rectangle size (x, y, height, width): 0, 0, 480, 640 Keypoints to triangulate: 693 Keypoints inside image: 693

violetteavi commented 4 years ago

I guess that works. Most of the weird compile errors I encounter are a result of cached files and are fixed by cleaning and rebuilding.

catkin clean kimera_vio kimera_vio_ros
catkin build kimera_vio_ros -j 4
violetteavi commented 4 years ago

If your tests aren't compiling and the pipeline is behaving strangely, it is probably due to artifacts left over from a previous build. Though it takes a while (30 min on my machine), I would recommend cleaning and rebuilding Kimera with the commands above ^

BarzelS commented 4 years ago

This confirms what I suspected-- 90% RAM usage is from the creation of the stereo image packet. 90PercentOfMemoryIsFromBacklog Pair this with the queue logs you posted, and I think the images are getting processed all the way through and just not published. Fortunately, the latest PR introduced asynchronous publishing from VIO callbacks. Can you pull VIO and VIO-ROS master, rebuild, and try it again?

Thanks! But after I pulled I got this compilation error:

/home/shir/catkin_ws/build/kimera_vio/testKimeraVIO: symbol lookup error: /home/shir/catkin_ws/build/kimera_vio/testKimeraVIO: undefined symbol: _ZN3VIO7TrackerC1ERKNS_14FrontendParamsERKNS_12CameraParamsEPNS_15ThreadsafeQueueISt10unique_ptrINS_16DisplayInputBaseESt14default_deleteIS9_EEEE CMake Error at /usr/share/cmake-3.10/Modules/GoogleTestAddTests.cmake:39 (message): Error running test executable.

For now I commented the tests in the cmakelists file

Update: Thanks!! the RAM usage now looks much much better after I pulled!

But, after a short time I got this error msgs and all the pipeline got stuck:

E0513 21:46:36.629834 3909 Mesher.cpp:1668] Keypoints supposedly inside the image: E0513 21:46:36.629870 3909 Mesher.cpp:1670] x: 515.911, y: 392.432 E0513 21:46:36.629881 3909 Mesher.cpp:1670] x: 228, y: 281 E0513 21:46:36.629891 3909 Mesher.cpp:1670] x: 117, y: 116 E0513 21:46:36.629901 3909 Mesher.cpp:1670] x: 152, y: 54 E0513 21:46:36.629907 3909 Mesher.cpp:1670] x: 347.119, y: 360.049 E0513 21:46:36.629914 3909 Mesher.cpp:1670] x: 134, y: 222 E0513 21:46:36.629935 3909 Mesher.cpp:1670] x: 503, y: 211 E0513 21:46:36.629961 3909 Mesher.cpp:1670] x: 280.655, y: 101.233 E0513 21:46:36.629968 3909 Mesher.cpp:1670] x: 127, y: 48 E0513 21:46:36.629992 3909 Mesher.cpp:1670] x: 489, y: 258 E0513 21:46:36.629997 3909 Mesher.cpp:1670] x: 227, y: 8 E0513 21:46:36.630004 3909 Mesher.cpp:1670] x: 165.336, y: 411.89 E0513 21:46:36.630012 3909 Mesher.cpp:1670] x: 408.988, y: 372.457 E0513 21:46:36.630018 3909 Mesher.cpp:1670] x: 492, y: 234 E0513 21:46:36.630026 3909 Mesher.cpp:1670] x: 211.646, y: 281.072 E0513 21:46:36.630033 3909 Mesher.cpp:1670] x: 141, y: 337 E0513 21:46:36.630059 3909 Mesher.cpp:1670] x: 273.718, y: 286.706 E0513 21:46:36.630066 3909 Mesher.cpp:1670] x: 295.961, y: 357.657 E0513 21:46:36.630074 3909 Mesher.cpp:1670] x: 150, y: 331 E0513 21:46:36.630079 3909 Mesher.cpp:1670] x: 285, y: 287 E0513 21:46:36.630086 3909 Mesher.cpp:1670] x: 136, y: 45 E0513 21:46:36.630093 3909 Mesher.cpp:1670] x: 422, y: 247 E0513 21:46:36.630101 3909 Mesher.cpp:1670] x: 235, y: 256 E0513 21:46:36.630111 3909 Mesher.cpp:1670] x: 299, y: 73 E0513 21:46:36.630120 3909 Mesher.cpp:1670] x: 191, y: 279 E0513 21:46:36.630126 3909 Mesher.cpp:1670] x: 473, y: 39 E0513 21:46:36.630133 3909 Mesher.cpp:1670] x: 68.86, y: 311.786 E0513 21:46:36.630141 3909 Mesher.cpp:1670] x: 204.073, y: 75.5732 E0513 21:46:36.630147 3909 Mesher.cpp:1670] x: 120, y: 126 E0513 21:46:36.630154 3909 Mesher.cpp:1670] x: 93, y: 453 E0513 21:46:36.630162 3909 Mesher.cpp:1670] x: 446, y: 249 E0513 21:46:36.630168 3909 Mesher.cpp:1670] x: 69.7736, y: 295.884 E0513 21:46:36.630177 3909 Mesher.cpp:1670] x: 122, y: 96 E0513 21:46:36.630183 3909 Mesher.cpp:1670] x: 147, y: 68 E0513 21:46:36.630189 3909 Mesher.cpp:1670] x: 199, y: 187 E0513 21:46:36.630198 3909 Mesher.cpp:1670] x: 367, y: 273 E0513 21:46:36.630204 3909 Mesher.cpp:1670] x: 450.498, y: 229.4 E0513 21:46:36.630211 3909 Mesher.cpp:1670] x: 122, y: 360 E0513 21:46:36.630220 3909 Mesher.cpp:1670] x: 277, y: 137 E0513 21:46:36.630226 3909 Mesher.cpp:1670] x: 423.181, y: 75.8536 E0513 21:46:36.630234 3909 Mesher.cpp:1670] x: 137, y: 31 E0513 21:46:36.630241 3909 Mesher.cpp:1670] x: 460, y: 102 E0513 21:46:36.630249 3909 Mesher.cpp:1670] x: 68, y: 377 E0513 21:46:36.630255 3909 Mesher.cpp:1670] x: 106, y: 209 E0513 21:46:36.630262 3909 Mesher.cpp:1670] x: 141, y: 246 E0513 21:46:36.630270 3909 Mesher.cpp:1670] x: 157, y: 10 E0513 21:46:36.630275 3909 Mesher.cpp:1670] x: 352, y: 272 E0513 21:46:36.630282 3909 Mesher.cpp:1670] x: 470, y: 150 E0513 21:46:36.630306 3909 Mesher.cpp:1670] x: 485.572, y: 216.766 E0513 21:46:36.630312 3909 Mesher.cpp:1670] x: 474, y: 25 E0513 21:46:36.630318 3909 Mesher.cpp:1670] x: 475, y: 61 E0513 21:46:36.630324 3909 Mesher.cpp:1670] x: 323, y: 74 E0513 21:46:36.630331 3909 Mesher.cpp:1670] x: 472, y: 13 E0513 21:46:36.630336 3909 Mesher.cpp:1670] x: 89, y: 333 E0513 21:46:36.630344 3909 Mesher.cpp:1670] x: 346, y: 6 E0513 21:46:36.630352 3909 Mesher.cpp:1670] x: 280, y: 148 E0513 21:46:36.630357 3909 Mesher.cpp:1670] x: 393.89, y: 275.197 E0513 21:46:36.630364 3909 Mesher.cpp:1670] x: 103.192, y: 329.776 E0513 21:46:36.630373 3909 Mesher.cpp:1670] x: 282, y: 11 E0513 21:46:36.630378 3909 Mesher.cpp:1670] x: 276.983, y: 191.104 E0513 21:46:36.630385 3909 Mesher.cpp:1670] x: 267, y: 268 E0513 21:46:36.630393 3909 Mesher.cpp:1670] x: 348.254, y: 30.795 E0513 21:46:36.630398 3909 Mesher.cpp:1670] x: 275, y: 176 E0513 21:46:36.630405 3909 Mesher.cpp:1670] x: 279, y: 117 E0513 21:46:36.630411 3909 Mesher.cpp:1670] x: 128.687, y: 396.24 E0513 21:46:36.630419 3909 Mesher.cpp:1670] x: 297, y: 135 E0513 21:46:36.630425 3909 Mesher.cpp:1670] x: 281, y: 68 E0513 21:46:36.630432 3909 Mesher.cpp:1670] x: 323, y: 83 E0513 21:46:36.630439 3909 Mesher.cpp:1670] x: 183, y: 65 E0513 21:46:36.630446 3909 Mesher.cpp:1670] x: 376, y: 274 E0513 21:46:36.630453 3909 Mesher.cpp:1670] x: 237.132, y: 339.67 E0513 21:46:36.630460 3909 Mesher.cpp:1670] x: 163, y: 53 E0513 21:46:36.630467 3909 Mesher.cpp:1670] x: 321, y: 62 E0513 21:46:36.630475 3909 Mesher.cpp:1670] x: 69.776, y: 295.883 E0513 21:46:36.630481 3909 Mesher.cpp:1670] x: 216, y: 184 E0513 21:46:36.630487 3909 Mesher.cpp:1670] x: 234, y: 71 E0513 21:46:36.630494 3909 Mesher.cpp:1670] x: 451, y: 13 E0513 21:46:36.630501 3909 Mesher.cpp:1670] x: 163, y: 143 E0513 21:46:36.630508 3909 Mesher.cpp:1670] x: 237.978, y: 10.5119 E0513 21:46:36.630517 3909 Mesher.cpp:1670] x: 200.079, y: 41.4863 E0513 21:46:36.630523 3909 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E0513 21:46:36.633191 3909 Mesher.cpp:1670] x: 428.376, y: 91.339 E0513 21:46:36.633198 3909 Mesher.cpp:1670] x: 145.142, y: 238.904 E0513 21:46:36.633203 3909 Mesher.cpp:1670] x: 450.847, y: 284.145 E0513 21:46:36.633210 3909 Mesher.cpp:1670] x: 150.933, y: 96.864 E0513 21:46:36.633219 3909 Mesher.cpp:1670] x: 225.925, y: 148.924 E0513 21:46:36.633225 3909 Mesher.cpp:1670] x: 221.962, y: 230.635 E0513 21:46:36.633232 3909 Mesher.cpp:1670] x: 409.396, y: 276.545 E0513 21:46:36.633239 3909 Mesher.cpp:1670] x: 278.719, y: 100.731 E0513 21:46:36.633245 3909 Mesher.cpp:1670] x: 155.503, y: 262.042 E0513 21:46:36.633270 3909 Mesher.cpp:1670] x: 156.112, y: 262.419 E0513 21:46:36.633280 3909 Mesher.cpp:1670] x: 151.636, y: 85.8922 E0513 21:46:36.633287 3909 Mesher.cpp:1670] x: 473.889, y: 280.773 E0513 21:46:36.633311 3909 Mesher.cpp:1670] x: 487.936, y: 134.752 E0513 21:46:36.633317 3909 Mesher.cpp:1670] x: 254.239, y: 203.805 E0513 21:46:36.633324 3909 Mesher.cpp:1670] x: 168.884, y: 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21:46:36.633541 3909 Mesher.cpp:1670] x: 425.06, y: 218.747 E0513 21:46:36.633548 3909 Mesher.cpp:1670] x: 229.439, y: 225.386 E0513 21:46:36.633554 3909 Mesher.cpp:1670] x: 245.846, y: 241.892 E0513 21:46:36.633560 3909 Mesher.cpp:1670] x: 245.743, y: 231.303 E0513 21:46:36.633567 3909 Mesher.cpp:1670] x: 478.054, y: 114.167 E0513 21:46:36.633574 3909 Mesher.cpp:1670] x: 245.112, y: 229.413 E0513 21:46:36.633581 3909 Mesher.cpp:1670] x: 229.438, y: 225.387 E0513 21:46:36.633587 3909 Mesher.cpp:1670] x: 410.937, y: 277.68 E0513 21:46:36.633594 3909 Mesher.cpp:1670] x: 229.438, y: 225.387 E0513 21:46:36.633599 3909 Mesher.cpp:1670] x: 234.51, y: 231.274 E0513 21:46:36.633606 3909 Mesher.cpp:1670] x: 318.932, y: 256.198 E0513 21:46:36.633612 3909 Mesher.cpp:1670] x: 255.788, y: 191.528 E0513 21:46:36.633618 3909 Mesher.cpp:1670] x: 248.92, y: 197.941 E0513 21:46:36.633625 3909 Mesher.cpp:1670] x: 409.81, y: 264.93 E0513 21:46:36.633631 3909 Mesher.cpp:1670] x: 278.893, y: 96.6605 E0513 21:46:36.633638 3909 Mesher.cpp:1670] x: 289.643, y: 258.497 E0513 21:46:36.633646 3909 Mesher.cpp:1670] x: 223.292, y: 241.134 E0513 21:46:36.633651 3909 Mesher.cpp:1670] x: 436.06, y: 121.254 E0513 21:46:36.633657 3909 Mesher.cpp:1670] x: 230.993, y: 245.331 E0513 21:46:36.633663 3909 Mesher.cpp:1670] x: 171.342, y: 285.585 E0513 21:46:36.633671 3909 Mesher.cpp:1670] x: 448.388, y: 184.335 E0513 21:46:36.633677 3909 Mesher.cpp:1670] x: 150.35, y: 164.033 E0513 21:46:36.633684 3909 Mesher.cpp:1670] x: 96.0583, y: 205.202 E0513 21:46:36.633690 3909 Mesher.cpp:1670] x: 245.847, y: 241.893 E0513 21:46:36.633697 3909 Mesher.cpp:1670] x: 450.707, y: 229.432 E0513 21:46:36.633704 3909 Mesher.cpp:1670] x: 271.744, y: 252.801 E0513 21:46:36.633711 3909 Mesher.cpp:1670] x: 85.6637, y: 341.848 E0513 21:46:36.633718 3909 Mesher.cpp:1670] x: 241.279, y: 194.863 E0513 21:46:36.633725 3909 Mesher.cpp:1670] x: 251.845, y: 152.255 E0513 21:46:36.633733 3909 Mesher.cpp:1670] x: 266.597, y: 240.087 E0513 21:46:36.633739 3909 Mesher.cpp:1670] x: 227.899, y: 16.5516 E0513 21:46:36.633746 3909 Mesher.cpp:1670] x: 156.113, y: 262.42 E0513 21:46:36.633752 3909 Mesher.cpp:1670] x: 175.042, y: 42.4536 E0513 21:46:36.633759 3909 Mesher.cpp:1670] x: 256.836, y: 104.439 E0513 21:46:36.633766 3909 Mesher.cpp:1670] x: 233.915, y: 206.425 E0513 21:46:36.633772 3909 Mesher.cpp:1670] x: 317.168, y: 248.903 E0513 21:46:36.633778 3909 Mesher.cpp:1670] x: 255.271, y: 224.028 E0513 21:46:36.633786 3909 Mesher.cpp:1670] x: 216.246, y: 222.512 E0513 21:46:36.633791 3909 Mesher.cpp:1670] x: 95.2997, y: 292.341 E0513 21:46:36.633798 3909 Mesher.cpp:1670] x: 199.23, y: 147.748 E0513 21:46:36.633805 3909 Mesher.cpp:1670] x: 69.1175, y: 312.152 E0513 21:46:36.633810 3909 Mesher.cpp:1670] x: 321.384, y: 232.082 E0513 21:46:36.633818 3909 Mesher.cpp:1670] x: 211.893, y: 243.286 E0513 21:46:36.633824 3909 Mesher.cpp:1670] x: 434.799, y: 156.964 E0513 21:46:36.633831 3909 Mesher.cpp:1670] x: 364.299, y: 244.067 E0513 21:46:36.633838 3909 Mesher.cpp:1670] x: 440.709, y: 142.055 E0513 21:46:36.633846 3909 Mesher.cpp:1670] x: 227.234, y: 107.832 E0513 21:46:36.633852 3909 Mesher.cpp:1670] x: 434.817, y: 33.95 E0513 21:46:36.633859 3909 Mesher.cpp:1670] x: 452.005, y: 99.2499 E0513 21:46:36.633864 3909 Mesher.cpp:1670] x: 450.214, y: 128.035 E0513 21:46:36.633872 3909 Mesher.cpp:1670] x: 427.316, y: 180.349 E0513 21:46:36.633878 3909 Mesher.cpp:1670] x: 256.835, y: 104.436 E0513 21:46:36.633885 3909 Mesher.cpp:1670] x: 467.961, y: 190.545 E0513 21:46:36.633893 3909 Mesher.cpp:1670] x: 251.915, y: 284.568 E0513 21:46:36.633899 3909 Mesher.cpp:1670] x: 324.766, y: 258.67 E0513 21:46:36.633906 3909 Mesher.cpp:1670] x: 481.076, y: 156.734 E0513 21:46:36.633913 3909 Mesher.cpp:1670] x: 479.082, y: 114.382 E0513 21:46:36.633919 3909 Mesher.cpp:1670] x: 256.836, y: 104.438 E0513 21:46:36.633926 3909 Mesher.cpp:1670] x: 481.364, y: 168.148 E0513 21:46:36.633934 3909 Mesher.cpp:1670] x: 235.667, y: 203.854 E0513 21:46:36.633940 3909 Mesher.cpp:1670] x: 236.007, y: 204.106 E0513 21:46:36.633947 3909 Mesher.cpp:1670] x: 216.508, y: 215.012 E0513 21:46:36.633955 3909 Mesher.cpp:1670] x: 181.155, y: 118.788 E0513 21:46:36.633960 3909 Mesher.cpp:1670] x: 449.937, y: 72.835 E0513 21:46:36.633967 3909 Mesher.cpp:1670] x: 250.006, y: 114.171 E0513 21:46:36.633975 3909 Mesher.cpp:1670] x: 414.193, y: 227.361 E0513 21:46:36.633981 3909 Mesher.cpp:1670] x: 435.922, y: 98.5655 E0513 21:46:36.633988 3909 Mesher.cpp:1670] x: 142.072, y: 208.06 E0513 21:46:36.633996 3909 Mesher.cpp:1670] x: 479.523, y: 147.082 E0513 21:46:36.634001 3909 Mesher.cpp:1670] x: 451.641, y: 104.111 E0513 21:46:36.634007 3909 Mesher.cpp:1670] x: 452.191, y: 118.025 E0513 21:46:36.634014 3909 Mesher.cpp:1670] x: 158.872, y: 238.788 E0513 21:46:36.634021 3909 Mesher.cpp:1670] x: 155.948, y: 261.854 E0513 21:46:36.634027 3909 Mesher.cpp:1670] x: 155.948, y: 261.854 E0513 21:46:36.634032 3909 Mesher.cpp:1670] x: 442.077, y: 79.1399 E0513 21:46:36.634038 3909 Mesher.cpp:1670] x: 409.678, y: 276.672 E0513 21:46:36.634045 3909 Mesher.cpp:1670] x: 451.641, y: 104.112 E0513 21:46:36.634052 3909 Mesher.cpp:1670] x: 161.283, y: 278.806 E0513 21:46:36.634058 3909 Mesher.cpp:1670] x: 243.552, y: 229.619 E0513 21:46:36.634064 3909 Mesher.cpp:1670] x: 236.835, y: 191.995 E0513 21:46:36.634071 3909 Mesher.cpp:1670] x: 175.158, y: 188.855 E0513 21:46:36.634078 3909 Mesher.cpp:1670] x: 299.181, y: 248.033 E0513 21:46:36.634085 3909 Mesher.cpp:1670] x: 175.344, y: 210.6 E0513 21:46:36.634093 3909 Mesher.cpp:1670] x: 196.713, y: 371.17 E0513 21:46:36.634099 3909 Mesher.cpp:1670] x: 210.354, y: 194.985 E0513 21:46:36.634106 3909 Mesher.cpp:1670] x: 219.877, y: 241.27 E0513 21:46:36.634114 3909 Mesher.cpp:1670] x: 257.469, y: 214.315 E0513 21:46:36.634120 3909 Mesher.cpp:1670] x: 146.981, y: 217.707 E0513 21:46:36.634128 3909 Mesher.cpp:1670] x: 248.907, y: 197.782 E0513 21:46:36.634135 3909 Mesher.cpp:1670] x: 186.006, y: 158.265 E0513 21:46:36.634143 3909 Mesher.cpp:1670] x: 187.352, y: 205.737 E0513 21:46:36.634150 3909 Mesher.cpp:1670] x: 483.551, y: 217.453 E0513 21:46:36.634155 3909 Mesher.cpp:1670] x: 195.307, y: 252.343 E0513 21:46:36.634162 3909 Mesher.cpp:1670] x: 186.246, y: 366.399 E0513 21:46:36.634169 3909 Mesher.cpp:1670] x: 258.362, y: 171.208 E0513 21:46:36.634176 3909 Mesher.cpp:1670] x: 450.4, y: 84.0921 E0513 21:46:36.634182 3909 Mesher.cpp:1670] x: 196.539, y: 240.901 E0513 21:46:36.634189 3909 Mesher.cpp:1670] x: 439.538, y: 130.66 E0513 21:46:36.634196 3909 Mesher.cpp:1670] x: 160.749, y: 109.199 E0513 21:46:36.634202 3909 Mesher.cpp:1670] x: 397.2, y: 290.077 E0513 21:46:36.634208 3909 Mesher.cpp:1670] x: 423.679, y: 201.722 E0513 21:46:36.634214 3909 Mesher.cpp:1670] x: 161.623, y: 158.742 E0513 21:46:36.634222 3909 Mesher.cpp:1670] x: 180.466, y: 251.54 E0513 21:46:36.634227 3909 Mesher.cpp:1670] x: 180.133, y: 241.785 E0513 21:46:36.634233 3909 Mesher.cpp:1670] x: 200.41, y: 242.444 E0513 21:46:36.634239 3909 Mesher.cpp:1670] x: 440.754, y: 185.771 E0513 21:46:36.634246 3909 Mesher.cpp:1670] x: 428.651, y: 85.316 E0513 21:46:36.634253 3909 Mesher.cpp:1670] x: 449.677, y: 204.785 E0513 21:46:36.634260 3909 Mesher.cpp:1670] x: 143.386, y: 157.732 E0513 21:46:36.634266 3909 Mesher.cpp:1670] x: 433.359, y: 199.457 E0513 21:46:36.634274 3909 Mesher.cpp:1670] x: 433.752, y: 188.28 E0513 21:46:36.634280 3909 Mesher.cpp:1670] x: 443.019, y: 163.211 E0513 21:46:36.634287 3909 Mesher.cpp:1670] x: 279.552, y: 167.866 E0513 21:46:36.634294 3909 Mesher.cpp:1670] x: 473.616, y: 160.694 E0513 21:46:36.634301 3909 Mesher.cpp:1670] x: 468.642, y: 132.708 E0513 21:46:36.634308 3909 Mesher.cpp:1670] x: 432.956, y: 105.186 E0513 21:46:36.634315 3909 Mesher.cpp:1670] x: 469.423, y: 110.795 E0513 21:46:36.634322 3909 Mesher.cpp:1670] x: 212.92, y: 229.353 E0513 21:46:36.634330 3909 Mesher.cpp:1670] x: 277.234, y: 218.174 E0513 21:46:36.634351 3909 Mesher.cpp:1670] x: 476.498, y: 183.227 E0513 21:46:36.634358 3909 Mesher.cpp:1670] x: 142.59, y: 196.955 E0513 21:46:36.634366 3909 Mesher.cpp:1670] x: 177.384, y: 261.088 E0513 21:46:36.634373 3909 Mesher.cpp:1670] x: 439.404, y: 208.602 E0513 21:46:36.634380 3909 Mesher.cpp:1670] x: 429.835, y: 280.398 E0513 21:46:36.634387 3909 Mesher.cpp:1670] x: 115.772, y: 214.087 E0513 21:46:36.634394 3909 Mesher.cpp:1670] x: 459.281, y: 114.884 E0513 21:46:36.634402 3909 Mesher.cpp:1670] x: 416.688, y: 207.948 E0513 21:46:36.634408 3909 Mesher.cpp:1670] x: 439.183, y: 218.103 E0513 21:46:36.634415 3909 Mesher.cpp:1670] x: 436.674, y: 69.4235 E0513 21:46:36.634439 3909 Mesher.cpp:1670] x: 112.079, y: 203.134 E0513 21:46:36.634446 3909 Mesher.cpp:1670] x: 181.705, y: 279.255 E0513 21:46:36.634452 3909 Mesher.cpp:1670] x: 420.49, y: 289.13 E0513 21:46:36.634460 3909 Mesher.cpp:1670] x: 470.234, y: 205.256 E0513 21:46:36.634467 3909 Mesher.cpp:1670] x: 450.12, y: 273.17 E0513 21:46:36.634474 3909 Mesher.cpp:1670] x: 177.761, y: 27.5462 E0513 21:46:36.634480 3909 Mesher.cpp:1670] x: 197.457, y: 20.6786 E0513 21:46:36.634487 3909 Mesher.cpp:1670] x: 237.687, y: 11.0626 E0513 21:46:36.634495 3909 Mesher.cpp:1670] x: 175.799, y: 193.935 E0513 21:46:36.634501 3909 Mesher.cpp:1670] x: 162.317, y: 32.6909 E0513 21:46:36.634508 3909 Mesher.cpp:1670] x: 225.925, y: 148.924 E0513 21:46:36.634516 3909 Mesher.cpp:1670] x: 251.845, y: 152.254 E0513 21:46:36.634542 3909 Mesher.cpp:1670] x: 316.201, y: 175.267 E0513 21:46:36.634549 3909 Mesher.cpp:1670] x: 225.926, y: 148.923 E0513 21:46:36.634557 3909 Mesher.cpp:1670] x: 217.196, y: 16.0749 E0513 21:46:36.634564 3909 Mesher.cpp:1670] x: 291.202, y: 101.353 E0513 21:46:36.634584 3909 Mesher.cpp:1670] x: 162.317, y: 32.6911 E0513 21:46:36.634591 3909 Mesher.cpp:1670] x: 176.71, y: 154.867 E0513 21:46:36.634598 3909 Mesher.cpp:1670] x: 251.799, y: 131.194 E0513 21:46:36.634605 3909 Mesher.cpp:1670] x: 366.137, y: 244.301 E0513 21:46:36.634611 3909 Mesher.cpp:1670] x: 484.948, y: 216.957 E0513 21:46:36.634618 3909 Mesher.cpp:1670] x: 201.747, y: 61.1974 E0513 21:46:36.634625 3909 Mesher.cpp:1670] x: 178.444, y: 117.79 E0513 21:46:36.634632 3909 Mesher.cpp:1670] x: 355.246, y: 205.772 E0513 21:46:36.634639 3909 Mesher.cpp:1670] x: 91.8459, y: 312.261 E0513 21:46:36.634646 3909 Mesher.cpp:1670] x: 198.083, y: 240.872 E0513 21:46:36.634652 3909 Mesher.cpp:1670] x: 291.258, y: 268.831 E0513 21:46:36.634660 3909 Mesher.cpp:1670] x: 162.317, y: 32.6917 E0513 21:46:36.634666 3909 Mesher.cpp:1670] x: 373.43, y: 189.528 E0513 21:46:36.634673 3909 Mesher.cpp:1670] x: 260.584, y: 18.7032 E0513 21:46:36.634680 3909 Mesher.cpp:1670] x: 258.784, y: 88.6001 E0513 21:46:36.634687 3909 Mesher.cpp:1670] x: 103.066, y: 329.81 E0513 21:46:36.634694 3909 Mesher.cpp:1670] x: 436.695, y: 111.181 E0513 21:46:36.634702 3909 Mesher.cpp:1670] x: 190.665, y: 397.426 E0513 21:46:36.634709 3909 Mesher.cpp:1670] x: 281.929, y: 257.352 E0513 21:46:36.634716 3909 Mesher.cpp:1670] x: 202.284, y: 263.328 E0513 21:46:36.634723 3909 Mesher.cpp:1670] x: 69.1132, y: 312.151 E0513 21:46:36.634730 3909 Mesher.cpp:1670] x: 203.383, y: 98.7041 E0513 21:46:36.634737 3909 Mesher.cpp:1670] x: 231.556, y: 119.73 E0513 21:46:36.634743 3909 Mesher.cpp:1670] x: 435.762, y: 50.4504 E0513 21:46:36.634752 3909 Mesher.cpp:1670] x: 227.563, y: 95.3949 E0513 21:46:36.634758 3909 Mesher.cpp:1670] x: 269.548, y: 11.3123 E0513 21:46:36.634765 3909 Mesher.cpp:1670] x: 107.951, y: 391.263 E0513 21:46:36.634773 3909 Mesher.cpp:1670] x: 273.019, y: 241.02 E0513 21:46:36.634779 3909 Mesher.cpp:1670] x: 428.262, y: 171.682 E0513 21:46:36.634788 3909 Mesher.cpp:1670] x: 158.703, y: 238.6 E0513 21:46:36.634794 3909 Mesher.cpp:1670] x: 168.043, y: 191.666 E0513 21:46:36.634801 3909 Mesher.cpp:1670] x: 160.695, y: 89.4148 E0513 21:46:36.634809 3909 Mesher.cpp:1670] x: 424.218, y: 114.233 E0513 21:46:36.634814 3909 Mesher.cpp:1670] x: 174.898, y: 54.6038 E0513 21:46:36.634821 3909 Mesher.cpp:1670] x: 431.687, y: 19.6958 E0513 21:46:36.634829 3909 Mesher.cpp:1670] x: 459.331, y: 162.475 E0513 21:46:36.634835 3909 Mesher.cpp:1670] x: 274.721, y: 162.645 E0513 21:46:36.634840 3909 Mesher.cpp:1670] x: 429.921, y: 45.8174 E0513 21:46:36.634847 3909 Mesher.cpp:1670] x: 103.067, y: 329.809 E0513 21:46:36.634855 3909 Mesher.cpp:1670] x: 425.089, y: 150.269 E0513 21:46:36.634860 3909 Mesher.cpp:1670] x: 443.505, y: 42.9775 E0513 21:46:36.634866 3909 Mesher.cpp:1670] x: 451.447, y: 49.0474 E0513 21:46:36.634873 3909 Mesher.cpp:1670] x: 459.365, y: 148.182 E0513 21:46:36.634881 3909 Mesher.cpp:1670] x: 460.335, y: 218.875 E0513 21:46:36.634887 3909 Mesher.cpp:1670] x: 143.587, y: 83.3353 E0513 21:46:36.634896 3909 Mesher.cpp:1670] x: 55.7645, y: 269.908 E0513 21:46:36.634902 3909 Mesher.cpp:1670] x: 443.505, y: 52.3143 E0513 21:46:36.634909 3909 Mesher.cpp:1670] x: 113.41, y: 334.975 E0513 21:46:36.634915 3909 Mesher.cpp:1670] x: 273.016, y: 241.019 E0513 21:46:36.634923 3909 Mesher.cpp:1670] x: 428.552, y: 265.264 E0513 21:46:36.634929 3909 Mesher.cpp:1670] x: 451.423, y: 159.949 E0513 21:46:36.634934 3909 Mesher.cpp:1670] x: 452.005, y: 99.2533 E0513 21:46:36.634941 3909 Mesher.cpp:1670] x: 359.968, y: 221.897 E0513 21:46:36.634948 3909 Mesher.cpp:1670] x: 445.536, y: 395.678 E0513 21:46:36.634956 3909 Mesher.cpp:1670] x: 424.218, y: 114.233 E0513 21:46:36.634963 3909 Mesher.cpp:1670] x: 141.459, y: 164.865 E0513 21:46:36.634969 3909 Mesher.cpp:1670] x: 142.588, y: 126.095 E0513 21:46:36.634977 3909 Mesher.cpp:1672] CreateMesh2D: subdiv.insert error (2). A point is outside of the triangulation specified rect... Rectangle size (x, y, height, width): 0, 0, 480, 640 Keypoints to triangulate: 693 Keypoints inside image: 693

Thanks, any update regarding the error I got in the Mesher.cpp (above)

violetteavi commented 4 years ago

Did the Mesher error persist when you cleaned and rebuilt Kimera? If so, please confirm that you cleaned and rebuilt, then open a separate issue as it is likely unrelated to the RAM usage :)

ToniRV commented 4 years ago

Closing as it seems to be solved with latest PR #72

BarzelS commented 4 years ago

@ToniRV @violetteavi Please open back this issue, I'm still getting the same RAM usage problems. The problem is that when I'm setting the 'visualize' flag to false I'm not getting any data of /tf or odometry so it doesn't help me at all