The Process Freezes When Dealing with a Large Number of Frames about nerf-loam HOT 3 CLOSED

********** current num kfs: 2 **********
frame id 956
trans  tensor([150.7139,   2.9822,   0.5144], device='cuda:0', grad_fn=<SubBackward0>)
frame id 957
trans  tensor([152.0837,   3.0972,   0.5227], device='cuda:0', grad_fn=<SubBackward0>)
/usr/local/lib/python3.8/dist-packages/torch/functional.py:599: UserWarning: torch.meshgrid: in an upcoming release, it will be required to pass the indexing argument. (Triggered internally at  ../aten/src/ATen/native/TensorShape.cpp:2315.)
  return _VF.meshgrid(tensors, **kwargs)  # type: ignore[attr-defined]
Process Process-2:
Traceback (most recent call last):
  File "/usr/lib/python3.8/multiprocessing/process.py", line 315, in _bootstrap
    self.run()
  File "/usr/lib/python3.8/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/data/NeRF-LOAM-master/src/mapping.py", line 98, in spin
    tracked_frame = kf_buffer.get()
  File "/usr/lib/python3.8/multiprocessing/queues.py", line 116, in get
    return _ForkingPickler.loads(res)
  File "/usr/local/lib/python3.8/dist-packages/torch/multiprocessing/reductions.py", line 297, in rebuild_storage_fd
    fd = df.detach()
  File "/usr/lib/python3.8/multiprocessing/resource_sharer.py", line 57, in detach
    with _resource_sharer.get_connection(self._id) as conn:
  File "/usr/lib/python3.8/multiprocessing/resource_sharer.py", line 87, in get_connection
    c = Client(address, authkey=process.current_process().authkey)
  File "/usr/lib/python3.8/multiprocessing/connection.py", line 508, in Client
    answer_challenge(c, authkey)
  File "/usr/lib/python3.8/multiprocessing/connection.py", line 752, in answer_challenge
    message = connection.recv_bytes(256)         # reject large message
  File "/usr/lib/python3.8/multiprocessing/connection.py", line 216, in recv_bytes
    buf = self._recv_bytes(maxlength)
  File "/usr/lib/python3.8/multiprocessing/connection.py", line 414, in _recv_bytes
    buf = self._recv(4)
  File "/usr/lib/python3.8/multiprocessing/connection.py", line 383, in _recv
    raise EOFError
EOFError
[W CudaIPCTypes.cpp:15] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors]
/usr/lib/python3.8/multiprocessing/resource_tracker.py:216: UserWarning: resource_tracker: There appear to be 4 leaked semaphore objects to clean up at shutdown
  warnings.warn('resource_tracker: There appear to be %d '