fix: attempted to address non freed memory

knzo25 commented 1 month ago

Description

This PR addressed the large amounts of memory used by the lidar-lidar calibrator. This is in part due to not freeing some memory until the the program finishes (exits), some PCL magic, and freeing some results before. However, some memory is still not being freed correctly, but fixing that would require PCL modifications that are currently outside of scope.

Tests performed

Calibrated the X2 gen2 vehicle with the sugeested route and profile.
Before this PR: 38.6GB of RAM used at the end of the calibration
With this PR: 9GB

Notes for reviewers

To review this PR, it needs to be checked that calibration still works (any data is fine) and that the consumed memory decreases (at the end of the calibration)

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codecov-commenter commented 1 month ago

Codecov Report

Attention: Patch coverage is 0% with 97 lines in your changes missing coverage. Please review.

Project coverage is 0.00%. Comparing base (bab5400) to head (5486e50). Report is 23 commits behind head on tier4/universe.

Files with missing lines	Patch %	Lines
..._based_calibrator/src/mapping_based_calibrator.cpp	0.00%	48 Missing :warning:
.../mapping_based_calibrator/src/lidar_calibrator.cpp	0.00%	42 Missing :warning:
calibrators/mapping_based_calibrator/src/utils.cpp	0.00%	7 Missing :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## tier4/universe #206 +/- ## ================================================= - Coverage 0.93% 0.00% -0.94% ================================================= Files 270 28 -242 Lines 21339 2653 -18686 Branches 383 223 -160 ================================================= - Hits 200 0 -200 + Misses 20982 2653 -18329 + Partials 157 0 -157 ``` | [Flag](https://app.codecov.io/gh/tier4/CalibrationTools/pull/206/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | Coverage Δ | | |---|---|---| | [differential](https://app.codecov.io/gh/tier4/CalibrationTools/pull/206/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | `0.00% <0.00%> (?)` | | | [total](https://app.codecov.io/gh/tier4/CalibrationTools/pull/206/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | `?` | | Flags with carried forward coverage won't be shown. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4#carryforward-flags-in-the-pull-request-comment) to find out more.

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knzo25 commented 1 month ago

Merging as @muraki-t4 performed an independent confirmation

tier4 / CalibrationTools