Re: databaseViewer and RAM management

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/databaseViewer-and-RAM-management-tp8699p8710.html

Hi,

You may try rtabmap-export CLI instead to see if less RAM is used. It has also --xmin,--xmax,--ymin,--ymax,--zmin,--zmax options to limit the size of the export, so a script could be used to call multiple times rtabmap-export with different areas, creating multiple point clouds that could be assembled afterwards. Here an example splitting an area (200m x 200m) in four (100m x 100m):

rtabmap-export --xmin -50 --xmax 50 --ymin -50 --ymax 50 --output section1 map.db
rtabmap-export --xmin 50 --xmax 150 --ymin -50 --ymax 50 --output section2 map.db
rtabmap-export --xmin 50 --xmax 150 --ymin 50 --ymax 150 --output section3 map.db
rtabmap-export --xmin -50 --xmax 50 --ymin 50 --ymax 150 --output section4 map.db

Otherwise, we would have to debug which step in https://github.com/introlab/rtabmap/blob/master/tools/Export/main.cpp uses too much RAM (maybe there are optimizations that could be done to avoid duplicated data in RAM).

Without adding more physical RAM to the computer, the SWAP could be increased.

cheers,
Mathieu