On Tue, Feb 1, 2011 at 2:55 PM, Daniel Maturana
<dimatura@gmail.com> wrote:
Hi,
I'm using vslam and noticed a memory leak in
FrameProc::setStereoPoints. The method has a return path which fails
to release an allocated FrameStereo object. Since the FrameStereo
object has an image-sized buffer and this occurs on every frame it
quickly adds up to hundreds of megabytes. I checked out the last
version of frame.cpp from
https://code.ros.org/svn/ros-pkg/stacks/vslam/tags/unstable/frame_common/src/frame.cpp
and the problem is still there. I attach a diff with the fix.
best,
Daniel Maturana
Index: frame.cpp
===================================================================
--- frame.cpp (revision 35681)
+++ frame.cpp (working copy)
@@ -34,6 +34,7 @@
#include <frame_common/frame.h>
+#include <pcl/common/common.h>
using namespace Eigen3;
using namespace std;
@@ -264,7 +265,10 @@
frame.goodPts[i] = false;
}
- if (!setPointCloud) return;
+ if (!setPointCloud) {
+ delete st;
+ return;
+ }
// convert disparities and image to point cloud with luminance/RGB
double cx = frame.cam.cx;
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