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An error occurred while merging the maps

Open casso1993 opened this issue 9 months ago • 2 comments

Hello，great job on this project!

An error occurred when I merged two maps. I have repaired broken map first, but still have problems when I find overlapping submaps. Thanks for the help.

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casso1993 avatar May 15 '25 07:05 casso1993

The error may be caused by excessive GPU memory usage. I used 3060 6G laptop to build a map, but the map was too large. When the GPU memory usage reached 5.9G, an error occurred. How can I fix it?

casso1993 avatar May 20 '25 02:05 casso1993

The GPU RAM usage can be mitigated by changing the following params:

  • Set submap_target_num_points in config_sub_mapping_gpu.json to 10000 ~ 25000 (# points for each submap)
  • Set min_implicit_loop_overlap in config_global_mapping_gpu.json to 0.3 ~ 0.4 (Reducing # factors in global optimization)

I'm also thinking of implementing some additional mechanisms to reduce the memory usage.

koide3 avatar May 28 '25 04:05 koide3

I'm adding a memory usage monitor to the viewer that would be useful to find memory consuming functions. https://github.com/koide3/glim/pull/226

koide3 avatar Jun 11 '25 06:06 koide3