Save and Exit maxes out Swap and Memory

[Skwangles]

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+

[ymd-stella]

Try changing map_format to sqlite3.

stella_vslam/example/euroc/EuRoC_mono.yaml

Lines 57 to 58 in 0a1f13e

	System:
	map_format: "msgpack"