search

quantumjot / btrack

Bayesian multi-object tracking
https://btrack.readthedocs.io
MIT License
309 stars 50 forks source link

Eigen memory management in motion model #10

Open Surya059 opened 3 years ago

Surya059 commented 3 years ago

Hi, the way motion model (motion.cc) is implemented there is a lot of dynamic memory allocation in the update function which causes memory issues on highly resource constrained devices. Would it make sense for you to incorporate these best practices into your library?

I found out regarding the Eigen memory allocation mechanism here https://github.com/stulp/tutorials/blob/master/test.md

quantumjot commented 3 years ago

Hi @Surya059 - we hadn't really envisioned btrack being used on resource constrained devices. Do you have a use case for this?

Surya059 commented 3 years ago

Thanks for the reply.

I was using the BayesianTracker c++ source code (with some modifications) as an online, generic multi object tracking code. Was doing people tracking on a highly resource constrained device, that's when I faced the issue.