Memory management and large-scale scans on iOS

Posted by torjusti on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Memory-management-and-large-scale-scans-on-iOS-tp10299.html

Hi!

I'm using RTAB-Map to do handheld scanning of underground caves and mines, and despite having been playing around with different RGB-D cameras I'm seeing best results with an iPhone 15 Pro (and it also has a very usable form factor for this activity).

Unfortunately the iOS app doesn't always handle long running scans very well and the app will usually crash once the memory counter goes a bit over 2GB (presumably killed by iOS).

I've experimented with 1) rendering low detail point clouds only, and 2) limiting the working memory size to 200 nodes. The latter seems to have done me some good, but the app will still usually end up crashing if I try to append to this scan after saving (I guess that for some reason this loads more data into memory).

Does anyone have success stories related to using RTAB-Map for scanning vast cave systems and would be willing to share their tricks? Or more generally, are there any other tips related to memory management on iOS that I'm missing out on?