PyNITROS: reuse CUDA buffer for raw Image uploads#67
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StanByriukov02 wants to merge 1 commit intoNVIDIA-ISAAC-ROS:mainfrom
Open
PyNITROS: reuse CUDA buffer for raw Image uploads#67StanByriukov02 wants to merge 1 commit intoNVIDIA-ISAAC-ROS:mainfrom
StanByriukov02 wants to merge 1 commit intoNVIDIA-ISAAC-ROS:mainfrom
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In PyNitrosImageView, the fallback path for a regular ROS Image currently does cudaMalloc + H2D memcpy and then cudaFree during postprocess. On camera streams that malloc/free churn shows up as jitter and wasted work.
This adds an opt-in reusable device buffer pool for that raw-image upload path. When enabled it reuses a CUDA buffer with enough capacity instead of allocating/freeing every frame, while keeping the default behavior unchanged unless you turn it on.
Enable with PYNITROS_REUSE_RAW_CUDA_BUFFER=1. If you want a tiny receipt, set PYNITROS_RAW_CUDA_BUFFER_RECEIPTS=1 and it will print alloc vs reuse counts at exit.