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MapsManager: Make sure maps are cleanup when there is no subscriber. Added rosinfo for memory released when maps are cleared.

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This commit is contained in:
matlabbe
2020-08-19 14:14:56 -04:00
parent cbad3e37b6
commit c5c0e0807d
2 changed files with 74 additions and 21 deletions
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src/MapsManager.cpp
+39
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@@ -1149,6 +1149,26 @@ void MapsManager::publishMaps(
}
else if(mapCacheCleanup_)
{
if(!groundClouds_.empty() || !obstacleClouds_.empty())
{
size_t totalBytes = 0;
for(std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr >::iterator iter=groundClouds_.begin();iter!=groundClouds_.end();++iter)
{
totalBytes += sizeof(int) + iter->second->points.size()*sizeof(pcl::PointXYZRGB);
}
for(std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr >::iterator iter=obstacleClouds_.begin();iter!=obstacleClouds_.end();++iter)
{
totalBytes += sizeof(int) + iter->second->points.size()*sizeof(pcl::PointXYZRGB);
}
totalBytes += (assembledGround_->size() + assembledObstacles_->size()) *sizeof(pcl::PointXYZRGB);
totalBytes += (assembledGroundPoses_.size() + assembledObstaclePoses_.size()) * 13*sizeof(float);
totalBytes += assembledGroundIndex_.indexedFeatures()*assembledGroundIndex_.featuresDim() * sizeof(float);
totalBytes += assembledObstacleIndex_.indexedFeatures()*assembledObstacleIndex_.featuresDim() * sizeof(float);
ROS_INFO("MapsManager: cleanup point clouds (%ld points, %ld cached clouds, ~%ld MB)...",
assembledGround_->size()+assembledObstacles_->size(),
groundClouds_.size()+obstacleClouds_.size(),
totalBytes/1048576);
}
assembledGround_->clear();
assembledObstacles_->clear();
assembledGroundPoses_.clear();
@@ -1325,6 +1345,12 @@ void MapsManager::publishMaps(
octoMapEmptySpace_.getNumSubscribers() == 0 &&
octoMapProj_.getNumSubscribers() == 0)
{
if(octomap_->octree()->getNumLeafNodes()>0)
{
ROS_INFO("MapsManager: cleanup octomap (%ld leaf nodes, ~%ld MB)...",
octomap_->octree()->getNumLeafNodes(),
octomap_->octree()->memoryUsage()/1048576);
}
octomap_->clear();
}
@@ -1490,6 +1516,19 @@ void MapsManager::publishMaps(
if(!this->hasSubscribers() && mapCacheCleanup_)
{
if(!gridMaps_.empty())
{
size_t totalBytes = 0;
for(std::map<int, std::pair< std::pair<cv::Mat, cv::Mat>, cv::Mat> >::iterator iter=gridMaps_.begin(); iter!=gridMaps_.end(); ++iter)
{
totalBytes+= sizeof(int)+
iter->second.first.first.total()*iter->second.first.first.elemSize() +
iter->second.first.second.total()*iter->second.first.second.elemSize() +
iter->second.second.total()*iter->second.second.elemSize();
}
totalBytes += gridMapsViewpoints_.size()*sizeof(int) + gridMapsViewpoints_.size() * sizeof(cv::Point3f);
ROS_INFO("MapsManager: cleanup %ld grid maps (~%ld MB)...", gridMaps_.size(), totalBytes/1048576);
}
gridMaps_.clear();
gridMapsViewpoints_.clear();
}