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personalrobotics / OpenChisel

An open-source version of the Chisel chunked TSDF library.
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huge memory consumption #26

Open shadowver opened 5 years ago

shadowver commented 5 years ago

Hi @mklingen Thanks for sharing the code. I complied and built the program without ros and used opencv as the image wrapper. However, I found the memory consumption jumped to over 2.1G when running GetChunkIDsIntersecting() function under chisel::integrateDepthScan() (I assume this is the main API for depthimage input, right?). Is it normal or have I done something wrong? Thanks.

mklingen commented 5 years ago

That depends on what your parameters are. I wouldn't find 2.1 G unusual at all.

shadowver commented 5 years ago

Thanks for the replay. I will adjust the resolution and chunk size(originally 16 and 0.03 as default) to reduce the memory consumption. I do have another question if you don't mind I ask. When I ran my own dataset (depth image set that captured by Depth Sensor), the camera.ProjectPoint() is always out of range. What could be the reasons to cause such issue? Will depth image quality have such impact?(the depth images I collect do have a lot noises). Thanks.