Hey Kurt,<div>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).</div><div><br></div><div>The destructor for the DenseStereo object was not being called since the pointer to was of type FrameStereo</div>

<div><br></div><div>I&#39;ve attached a diff for the changes to the file</div><div>wg-ros-pkg-unreleased/vision/frame_common/src/frame.cpp</div><div>that fixes the memory leak</div><div><br></div><div>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...</div>

<div><br></div><div>-=Abe</div>