Re: localization with big db file

Posted by dnozik on
URL: http://official-rtab-map-forum.206.s1.nabble.com/localization-with-big-db-file-tp9851p9884.html

Hi Mathieu.
I am using top tool to check rtabmap memory usage.
I am using ros.

1.Before loading dictoinary rtabmap Mem~1.5GB
2.After call to :
                        UDEBUG("load words");

                        // load the last dictionary

                        _dbDriver->load(_vwd, _vwd->isIncremental());

   Mem~6-6.5GB is 40% total Ram  (sizeof(VisualWord) = 208B)

3.During call to _vwd->update(); Mem usage raising to 80% of Ram and rtabmap crashing.

Is that sound logical to crash in dictionary update with 8M words ?
Thanks.