Manually freeing CUDA memory

ihmcrobotics · Feb 27, 2025 · d7205fb · d7205fb
1 parent 34baa22
commit d7205fb
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/...eption/src/main/java/us/ihmc/perception/gpuHeightMap/FilteredRapidHeightMapExtractor.java b/...eption/src/main/java/us/ihmc/perception/gpuHeightMap/FilteredRapidHeightMapExtractor.java
@@ -77,7 +77,7 @@ public GpuMat update(GpuMat latestGlobalHeightMap)
          CUDATools.checkCUDAError(error);
 
          currentIndex = (currentIndex + 1) % layers;
-         return latestGlobalHeightMap;
+         return latestGlobalHeightMap.clone();
       }
 
       GpuMat result = new GpuMat(rows, cols, opencv_core.CV_16UC1);

diff --git a/...perception/src/main/java/us/ihmc/perception/gpuHeightMap/RapidHeightMapExtractorCUDA.java b/...perception/src/main/java/us/ihmc/perception/gpuHeightMap/RapidHeightMapExtractorCUDA.java
@@ -288,7 +288,11 @@ public void update(RigidBodyTransform sensorToWorldTransform, RigidBodyTransform
       CUDATools.checkCUDAError(error);
 
       if (heightMapParameters.getEnableAlphaFilter())
-         globalHeightMapImage = filteredRapidHeightMapExtractor.update(globalHeightMapImage);
+      {
+         GpuMat filteredHeightMap = filteredRapidHeightMapExtractor.update(globalHeightMapImage);
+         globalHeightMapImage.close();
+         globalHeightMapImage = filteredHeightMap;
+      }
 
       // Run the cropping kernel
       croppingKernel.withPointer(globalHeightMapImage.data()).withLong(globalHeightMapImage.step());