poses vector grows indefinitely

[ahans]

The poses vector is only ever added to. While poses are small objects, eventually any system will run out of memory. We need some bound for this.

To fix this, we could define some number of last poses that are kept. However, it looks like currently only the very first and last two poses are ever used. An even better fix might therefore be just keeping those.

[tizianoGuadagnino]

Hi @ahans,
The unbounded growth of the pose vector it is not a sensible problem in our point of view. A pose using Sophus is represented by 7 doubles. Unless there are specific memory restrictions, you need an extremely high number of poses for this to be a real problem. Furthermore, we need to store the all trajectory so that it can be inspected after a run.

[ahans]

Keeping all poses is just nothing we need in KISS-ICP core. If you want to inspect them after a run, there should be another place where you collect the poses. Maybe somewhere in the Python driver. I was under the impression you wanted to do things properly in this project, and unbounded growth is simply tech debt. And in the present case it's actually quite simple to fix it, as shown in my PR #124. Granted, the Python side would need more some work, but it's still small enough to not accept this. But all of that is IMHO. If you want to keep this as is, fine.