Reduce the used memory for big map about rtabmap HOT 6 OPEN

Here some options:

• Kp/MaxFeatures: 1500 is high, default is 500. You can fix your current database with:

  rtabmap-reprocess --Kp/MaxFeatures 500 input.db output.db
  

• You can try Kp/ByteToFloat: true to save some RAM.

• At the other extreme, we can use a fixed dictionary with less words (<1M): #942 (comment)

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Also waiting for this critical feature. Cannot load full vocabulary due to huge memory needs to allocate and dont manage to get same accuracy while activating WM/LTM.

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@alexk1976 You can try to use kp/NNStrategy to 0 or 2. It doesn't need to uncompress the descriptor from bin to float to build vocabulary, this saves 50% of memory usage, and it goes with the reduced perform of Near Neighbor search of course. However, the need of this feature is still necessary.

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Thank you!

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i dont think it's a real solution..a bit bigger area like we have and its impossible to load dictionary even when we set MaxFeatures=500. If we dont use FlanTree - have performance issues. Fixed dictionary - gives worse accuracy. We need a way to load full graph and only part of the dictionary

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@alexk1976 Agreed, it is kinda included in that other issue #1201 .

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