about memory

[HeXu1]

hi,thanks for your great work.

what's the memory consumed mainly? it seems my 16G memory almost be used,but the robot doesn't move so far.

hope for your reply,thanks

[wh200720041]

Hi @HeXu1

The memory is mainly consumed by input laser cloud and mapping. The loop closure detection checks for all input frames instead of key frames. Hence all historical point clouds are stored into memory.

A new version is updated and I did some modification to reduce the point cloud size when stored into database.

If you are trying to use it for long term localization, maybe you should consider to store key frames only for loop closure detection

[HeXu1]

Hi,I will test it. thanks!