Re: How can I load db in chunks or load multiple db dynamically ?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-can-I-load-db-in-chunks-or-load-multiple-db-dynamically-tp4602p4611.html

Which rtabmap version do you use? How many nodes are loaded when opening a database?

If the whole map has to be reconstructed, it would be indeed long. You may try to play with the Rtabmap/MemoryThr parameter. It will keep a constant number of nodes in RAM. Set it to 500, 1000, 5000 or more depending on computation power. This will limit the size of the map around the robot. When moving in a known area, it will expand automatically the map, similarly to what you are wanting to do.

Cheers,
Mathieu