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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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Memory Usage increase rapidly #190

Closed Majed-Alsubaie closed 2 years ago

Majed-Alsubaie commented 3 years ago

Hi,, Thank you for releasing such a project ,, it is wonderful

I face an issue with the memory where i do small movement and stop then " [ZUPT]: chi2_check over the residual limit - 1878" appears on the terminal After a while memory usage start jump!

see the video:https://drive.google.com/file/d/1xwCiOIDcFVQd1x-HqOusPo-TWpSr_R8z/view?usp=sharing

i have tested the same launch file with Mh-01 ,,, the algorithm did great! the launch file : https://drive.google.com/file/d/11EJbk5BCRNWUasFv4mxewFNC9Bn5nGgm/view?usp=sharing

goldbattle commented 3 years ago

This might be due to how we keep a history of visual tracks and IMU readings. Are you using the latest commit from the main branch?

goldbattle commented 3 years ago

This also seems to be reported in this paper, needs to be investigated. https://arxiv.org/pdf/2108.01654.pdf image

Probably due to how we store IMU data and need to have better logic to handle that deletion or how we store historical image track information in our feature database (maybe measurement delete logic doesn't work?).

goldbattle commented 2 years ago

Unable to reproduce currently on my machine (Ubuntu 20.04).