saver error when cloud_map is large

KOKIAOKI / 3d_bbs

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saver error when cloud_map is large #33

Open zuowei1998 opened 3 months ago

zuowei1998 commented 3 months ago

My "cloud_map.pcd" Occupies 1.7GB of memory(resolutiuon = 0.5m).There is a problem of being killed(core_dump) img_v3_02ba_43089c33-b49a-4047-9680-c3dd1792054g

How should I implement the saver?

KOKIAOKI commented 3 months ago

Hello Can you try ../../yc_test/test_saver without tail /

zuowei1998 commented 3 months ago

Thank you so much for your response! But unfortunately, the problem persists. Can you please take another look?

iDonghq commented 3 months ago

Thank you so much for your response! But unfortunately, the problem persists. Can you please take another look?

why cannot downsamle the global map before saving it? using it for 3D Reconstruction?

zuowei1998 commented 3 months ago

Thank you so much for your response! But unfortunately, the problem persists. Can you please take another look?

why cannot downsamle the global map before saving it? using it for 3D Reconstruction?

This cloud_map is the outdoor mapping result. Due to the large scene range, there is still 1.7gb after downsampling to 0.5m resolution.

KOKIAOKI commented 3 months ago

Please show me the output when following command

./saver ../../yc_test/test_saver 10.0 1

We may know whether this problem is due to the size of voxelmap pcd when saver tries to save the minimum voxelmap pcd

zuowei1998 commented 3 months ago

It works when I increase minimum resolution to 10m and keep one level!!!

Please show me the output when following command
./saver ../../yc_test/test_saver 10.0 1
We may know whether this problem is due to the size of voxelmap pcd when saver tries to save the minimum voxelmap pcd

KOKIAOKI commented 3 months ago

Let me take a time to reproduce this situation and solve this problem

KOKIAOKI commented 2 months ago

I cannot reproduce your situation even though I tried to use some large data. For example, I successfully saved one of the voxelmap pcd with 2.2GB.

I'm sorry that I haven't have any ideas to solve your problems yet.

zuowei1998 commented 2 months ago

I think the problem may not only be related to the memory size occupied by the point cloud map, but should be absolutely related to the spatial extent of the real physical world. 10km x 10km