Re: Mapping with multiple rgbd cameras

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-with-multiple-rgbd-cameras-tp7339p7460.html


Hi,

RTABMAP_SYNC_MULTI_RGBD is set to OFF by default to avoid problems (too long builds) on ROS buildfarm.

Those files use a lot of RAM to compile, because they are instancing many ROS synchronizers. Not sure how to reduce this. On some computers, reducing the number of parallel builds could help to avoid using the SWAP, thus increasing compilation speed.

Instead of "catkin_make" do "catkin_make -j2" to build maximum of 2 files at the same time. The RGBD sync files require around 2 GB RAM each.

cheers,
Mathieu