rtabmap-databaseViewer crash on 1 GB .db files

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rtabmap-databaseViewer crash on 1 GB .db files

Genozen
I tried to run 'update optimized mesh' to see the map on my Linux PC

error:

```
[ WARN] (2023-04-20 11:17:49.833) OptimizerTORO.cpp:190::optimize() TORO optimizer doesn't support prior or gravity links, use GTSAM or g2o optimizers (see parameter Optimizer/Strategy). Link 3997 ignored...
[ WARN] (2023-04-20 11:17:49.833) OptimizerTORO.cpp:190::optimize() TORO optimizer doesn't support prior or gravity links, use GTSAM or g2o optimizers (see parameter Optimizer/Strategy). Link 3998 ignored...
[ WARN] (2023-04-20 11:17:49.833) OptimizerTORO.cpp:190::optimize() TORO optimizer doesn't support prior or gravity links, use GTSAM or g2o optimizers (see parameter Optimizer/Strategy). Link 3999 ignored...
[ WARN] (2023-04-20 11:17:49.833) OptimizerTORO.cpp:190::optimize() TORO optimizer doesn't support prior or gravity links, use GTSAM or g2o optimizers (see parameter Optimizer/Strategy). Link 4000 ignored...
[ INFO] (2023-04-20 11:17:49.835) OptimizerTORO.cpp:223::optimize() Initial error = 0.000000
[ INFO] (2023-04-20 11:17:49.835) OptimizerTORO.cpp:224::optimize() TORO optimizing begin (iterations=10)
[ INFO] (2023-04-20 11:17:49.837) OptimizerTORO.cpp:303::optimize() Stop optimizing, error is already under epsilon (0.000000 < 0.000010)
[ INFO] (2023-04-20 11:17:49.837) OptimizerTORO.cpp:316::optimize() TORO optimizing end (0 iterations done, error=0.000000, time = 0.001944 s)
[ INFO] (2023-04-20 11:17:49.863) DatabaseViewer.cpp:6684::sliderIterationsValueChanged() KITTI t_err = 26.518232 %
[ INFO] (2023-04-20 11:17:49.863) DatabaseViewer.cpp:6685::sliderIterationsValueChanged() KITTI r_err = 0.369623 deg/m
[ INFO] (2023-04-20 11:17:49.864) DatabaseViewer.cpp:6719::sliderIterationsValueChanged() translational_rmse=51.033031
[ INFO] (2023-04-20 11:17:49.864) DatabaseViewer.cpp:6720::sliderIterationsValueChanged() translational_mean=28.602547
[ INFO] (2023-04-20 11:17:49.864) DatabaseViewer.cpp:6721::sliderIterationsValueChanged() translational_median=26.657618
[ INFO] (2023-04-20 11:17:49.864) DatabaseViewer.cpp:6722::sliderIterationsValueChanged() translational_std=42.269535
[ INFO] (2023-04-20 11:17:49.864) DatabaseViewer.cpp:6723::sliderIterationsValueChanged() translational_min=2.877689
[ INFO] (2023-04-20 11:17:49.864) DatabaseViewer.cpp:6724::sliderIterationsValueChanged() translational_max=361.282135
[ INFO] (2023-04-20 11:17:49.864) DatabaseViewer.cpp:6726::sliderIterationsValueChanged() rotational_rmse=98.726692
[ INFO] (2023-04-20 11:17:49.864) DatabaseViewer.cpp:6727::sliderIterationsValueChanged() rotational_mean=86.588715
[ INFO] (2023-04-20 11:17:49.864) DatabaseViewer.cpp:6728::sliderIterationsValueChanged() rotational_median=58.732227
[ INFO] (2023-04-20 11:17:49.864) DatabaseViewer.cpp:6729::sliderIterationsValueChanged() rotational_std=47.433430
[ INFO] (2023-04-20 11:17:49.864) DatabaseViewer.cpp:6730::sliderIterationsValueChanged() rotational_min=1.976749
[ INFO] (2023-04-20 11:17:49.864) DatabaseViewer.cpp:6731::sliderIterationsValueChanged() rotational_max=178.902817
[ INFO] (2023-04-20 11:17:49.949) DatabaseViewer.cpp:6684::sliderIterationsValueChanged() KITTI t_err = 26.518232 %
[ INFO] (2023-04-20 11:17:49.949) DatabaseViewer.cpp:6685::sliderIterationsValueChanged() KITTI r_err = 0.369623 deg/m
[ INFO] (2023-04-20 11:17:49.951) DatabaseViewer.cpp:6719::sliderIterationsValueChanged() translational_rmse=51.033031
[ INFO] (2023-04-20 11:17:49.951) DatabaseViewer.cpp:6720::sliderIterationsValueChanged() translational_mean=28.602547
[ INFO] (2023-04-20 11:17:49.951) DatabaseViewer.cpp:6721::sliderIterationsValueChanged() translational_median=26.657618
[ INFO] (2023-04-20 11:17:49.951) DatabaseViewer.cpp:6722::sliderIterationsValueChanged() translational_std=42.269535
[ INFO] (2023-04-20 11:17:49.951) DatabaseViewer.cpp:6723::sliderIterationsValueChanged() translational_min=2.877689
[ INFO] (2023-04-20 11:17:49.951) DatabaseViewer.cpp:6724::sliderIterationsValueChanged() translational_max=361.282135
[ INFO] (2023-04-20 11:17:49.951) DatabaseViewer.cpp:6726::sliderIterationsValueChanged() rotational_rmse=98.726692
[ INFO] (2023-04-20 11:17:49.951) DatabaseViewer.cpp:6727::sliderIterationsValueChanged() rotational_mean=86.588715
[ INFO] (2023-04-20 11:17:49.951) DatabaseViewer.cpp:6728::sliderIterationsValueChanged() rotational_median=58.732227
[ INFO] (2023-04-20 11:17:49.951) DatabaseViewer.cpp:6729::sliderIterationsValueChanged() rotational_std=47.433430
[ INFO] (2023-04-20 11:17:49.951) DatabaseViewer.cpp:6730::sliderIterationsValueChanged() rotational_min=1.976749
[ INFO] (2023-04-20 11:17:49.951) DatabaseViewer.cpp:6731::sliderIterationsValueChanged() rotational_max=178.902817
[ WARN] (2023-04-20 11:18:43.489) util3d.cpp:605::cloudFromDepthRGB() Cloud with only NaN values created!
[ WARN] (2023-04-20 11:18:43.490) util3d_filtering.cpp:598::voxelizeImpl() Cannot voxelize a not dense (organized) cloud with empty indices! (input=49152 pts). Returning empty cloud!
[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
[pcl::NormalEstimationOMP::compute] input_ is empty!
[ WARN] (2023-04-20 11:18:43.513) util3d.cpp:605::cloudFromDepthRGB() Cloud with only NaN values created!
[ WARN] (2023-04-20 11:18:43.514) util3d_filtering.cpp:598::voxelizeImpl() Cannot voxelize a not dense (organized) cloud with empty indices! (input=49152 pts). Returning empty cloud!
[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
[pcl::NormalEstimationOMP::compute] input_ is empty!
[ WARN] (2023-04-20 11:18:51.346) util3d_filtering.cpp:539::voxelizeImpl() Leaf size is too small for the input dataset. Integer indices would overflow. We will split space to be able to voxelize (lvl=0 cloud=55663564 min=[-0.259045 -54.732105 -2.283520] max=[70.881119 31.644331 7.856271] voxel=0.010000).
[ WARN] (2023-04-20 11:18:51.670) util3d_filtering.cpp:539::voxelizeImpl() Leaf size is too small for the input dataset. Integer indices would overflow. We will split space to be able to voxelize (lvl=1 cloud=15486364 min=[0.972987 -54.732105 -1.969737] max=[35.311035 -11.543888 2.786373] voxel=0.010000).
[ WARN] (2023-04-20 11:18:54.653) util3d_filtering.cpp:539::voxelizeImpl() Leaf size is too small for the input dataset. Integer indices would overflow. We will split space to be able to voxelize (lvl=1 cloud=16646888 min=[-0.259045 -11.543888 -2.283520] max=[35.311020 19.545263 2.786373] voxel=0.010000).
[ WARN] (2023-04-20 11:18:57.203) util3d_filtering.cpp:539::voxelizeImpl() Leaf size is too small for the input dataset. Integer indices would overflow. We will split space to be able to voxelize (lvl=1 cloud=11854073 min=[6.005129 -11.543872 2.786379] max=[33.110542 21.464001 7.856271] voxel=0.010000).
[ WARN] (2023-04-20 11:18:59.429) util3d_filtering.cpp:539::voxelizeImpl() Leaf size is too small for the input dataset. Integer indices would overflow. We will split space to be able to voxelize (lvl=1 cloud=3508845 min=[35.311077 -40.596016 -1.962621] max=[68.500687 -16.978741 2.391130] voxel=0.010000).
[ WARN] (2023-04-20 11:19:00.812) util3d_filtering.cpp:539::voxelizeImpl() Leaf size is too small for the input dataset. Integer indices would overflow. We will split space to be able to voxelize (lvl=1 cloud=1178880 min=[35.311062 7.214463 -2.129645] max=[54.174923 31.640116 2.786375] voxel=0.010000).
[ WARN] (2023-04-20 11:19:01.507) util3d_filtering.cpp:539::voxelizeImpl() Leaf size is too small for the input dataset. Integer indices would overflow. We will split space to be able to voxelize (lvl=1 cloud=1904964 min=[37.178509 -11.543780 2.786379] max=[60.655972 22.432920 7.069379] voxel=0.010000).
[FATAL] (2023-04-20 11:19:38.706) DBDriverSqlite3.cpp:5183::saveOptimizedMeshQuery() Condition (rc == SQLITE_OK) not met! [DB error (0.21.0): string or blob too big]
terminate called after throwing an instance of 'UException'
  what():  [FATAL] (2023-04-20 11:19:38.706) DBDriverSqlite3.cpp:5183::saveOptimizedMeshQuery() Condition (rc == SQLITE_OK) not met! [DB error (0.21.0): string or blob too big]
Aborted (core dumped)

```

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Re: rtabmap-databaseViewer crash on 1 GB .db files

matlabbe
Administrator
Point cloud containing 55 663 564 points (~5GB)... it is pretty huge, you may get the limit of Sqlite3 blob field size (default 1 GB). Try increasing voxel size. Otherwise, don't save it back in the database, just do Export to a file (would not have any limit).