Trouble generating occupancy grid about amcl3d HOT 5 CLOSED

Hi @arjvn. Could you provide us the *.ot file that you're using to generate the occupancy grid?

from amcl3d.

Hi, thanks for responding. I've tried these two .ot files
here is a link: https://drive.google.com/file/d/1FhtKBZ3N0eaPpuvn0h4UYyQajrZNefXl/view?usp=sharing

from amcl3d.

Hi @arjvn, we've been checking the problem with your .ot files.

The problem is due to the size of your octomap. When the occupancy grid is generated, it creates a Grid3dCell vector called "grid" where the size of each element is 8 bytes. This vector's size depends on the map's size and the octomap's resolution (ComputeGrid method in PointCloudTools.cpp). If the map is too large, the size of the grid also becomes too large, causing the program to crash.

The memory needed to create the grid is calculated by:

mem = (map_size_z / octomap_resolution) * (map_size_y / octomap_resolution) * (map_size_z / octomap_resolution ) * 8 bytes

In one of your octomaps, this value is approximately 60GB. To workaround the issue you could reduce the size of your .ot files or change the octomap resolution to reduce the size of the grid.

from amcl3d.

Alright thanks, I will try this out. Would you know/ have a recommendation of how big of a map I can generate without the program crashing?

from amcl3d.

Hi @arjvn,

It depends on the computational capacity of your computer, you can use the previous formula as a guideline to check whether the map's size is valid or not.

from amcl3d.