Yesterday I threw out the old nvblox (#160) completely, together with the self-built torch, in favor of the built-in spatial mapping from the ZED SDK. Today it's back, but done right this time.
The camera process was eating 185% CPU and 3.4 GB of memory. Profiling showed Python had nothing to do with it: almost all the time is inside the SDK, in the tracking optimizer. Along the way the agent attached gdb to the live camera process and froze it for 2 minutes, so gdb on the camera is now banned. Then we recorded an SVO and ran the same drive through different configs: the ZED map is +2.1 GB of memory, while nvblox builds a fuller map in 184 MB and ~2 ms per frame on the GPU. The agent built nvblox on the Jetson and wrote a small C++/CUDA extension with nanobind that takes depth from the camera and outputs mesh blocks in the same format as before. The camera process went from 3.4 GB down to 1.4 GB.