You are welcome... It's exciting to see the vslam system getting close
to a usable state!

-=Abe

On Friday, June 11, 2010, Kurt Konolige <konolige@willowgarage.com> wrote:
> Thanks, Abe.  Helen, this might be something you could look at to get some experience with the packages.
>
> Cheers --Kurt
>
> On 6/11/2010 6:23 PM, Abe Bachrach wrote:
>
> Hey Kurt,
> In playing around with the vslam_system a bit, I found the source of a
> big memory leak in frame_common (was leaking an image size buffer on
> each frame).
>
> The destructor for the DenseStereo object was not being called since the
> pointer to was of type FrameStereo
>
> I've attached a diff for the changes to the file
> wg-ros-pkg-unreleased/vision/frame_common/src/frame.cpp
> that fixes the memory leak
>
> The memory usage still seems to grow slowly over time when running just
> the VO (no place recognition or pose graph optimization), so there may
> be a small leak somewhere else but this one was the major one...
>
> -=Abe
>
>