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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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exporting large map #136

Open gijsvesch opened 7 years ago

gijsvesch commented 7 years ago

Hi,

I have a database of around 700 MB in size. When trying to export the 3D scan the application keeps crashing. I can see it takes more then 6 GB rams and then crashes with segmentation fault. My specs are i5 6200U with 8 gb Ram on ubuntu. I can send you the file if needed.

matlabbe commented 7 years ago

Hi,

What is the size of each scan? How many? What are the steps you do to export? Using the Export Scans dialog? untitled

cheers, Mathieu

gijsvesch commented 7 years ago

Hi Mathieu,

I am using the export 3D clouds dialog. There are around 3000 scans made. TBH I dont really know the size of each scan? Its the default settings using Kinect.

matlabbe commented 7 years ago

Set the voxel size to 1 cm for example (or more), this will help to reduce a lot the size of the point clouds to assemble.

gijsvesch commented 7 years ago

Unfortunately when using the voxel size it will continue for longer but still crash in the end. I think the generated map is somewhat useable though.

matlabbe commented 7 years ago

For very large map, you could go for 5 cm voxel size (similar size used for occupancy grids)