Re: Removing oldest keyframes

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Removing-oldest-keyframes-tp10476p10495.html

Hi,

You could enable Memory Management with Rtabmap/MemoryThr (maximum number of nodes kept in Working Memory). Then to only keep the latest nodes in Working Memory, you can set Mem/RehearsalSimilarity=1 to simulate a FIFO.

Note that doing this way could simplify removing old nodes afterwards, like a sqlite3 request like:

# cleanup Node
DELETE FROM Node AS n WHERE n.time_enter < (SELECT MAX(time_enter) FROM Info)

# cleanup Word
DELETE FROM Word AS w WHERE w.time_enter < (SELECT MAX(time_enter) FROM Info)

Other requests could be done to cleanup Features, Link amd Data tables if their corresponding node id are gone. Backup your database before editing the database like this.

To reduce database file size after the cleanup, there is a VACUUM request that can be done.

cheers,
Mathieu