Done. The mapper now stores images in memory only. This should reduce memory requirements considerably. The tradeoff is that whenever a cloud is required (for publishing to rviz, or for building a global map) it needs to be constructed on the fly. Constructing a point cloud is a relatively fast operation so it should be an acceptable tradeoff.
Also disabled saving pointclouds to disk when you request saving keyframes. Only images are saved.
Done. The mapper now stores images in memory only. This should reduce memory requirements considerably. The tradeoff is that whenever a cloud is required (for publishing to rviz, or for building a global map) it needs to be constructed on the fly. Constructing a point cloud is a relatively fast operation so it should be an acceptable tradeoff.
Also disabled saving pointclouds to disk when you request saving keyframes. Only images are saved.