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Try changing map_format to sqlite3. stella_vslam/example/euroc/EuRoC_mono.yaml Lines 57 to 58 in 0a1f13e |
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I'm using Stella vSLAM on the latest Ubuntu Linux for a Google Street View indoors mapping project where mapping sessions are up to 20 minutes of footage (around 121,000 landmarks and 3,829 key frames).
This is building on a single map file with multiple loop closures
Whenever I finish and go to save, my swap (2.1 GB) and memory (16GB) gets maxed and causes my computer to freeze and subsequently kill the process.
Any ideas how I can prevent thrashing, and the high memory usage during saving?
Thanks
Edit: The mapping and tracking works flawlessly, it is purely when I come to save to a map output file
Edit: Message pack file sizes are 200MB+
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