[ros-users] cvBridge + opencv memory leak problem

[Patrick Mihelich]

In your example, im_left is owned by left_bridge and should not be released.
However any images you create yourself do need to be released. The memory
leak is from not releasing "test".

The original OpenCV C
API<http://opencv.willowgarage.com/documentation/c/index.html>works
with IplImage's. The new C++
API <http://opencv.willowgarage.com/documentation/cpp/index.html> cv::Mat is
easier to use and avoids having to release memory manually.

cv_bridge only uses IplImage because it predates the OpenCV C++ API. The
next revision of cv_bridge will likely use cv::Mat, precisely to avoid this
sort of confusion.

Patrick

On Sat, May 22, 2010 at 4:54 PM, chriss lei <lei.chriss at gmail.com> wrote:

>
> Hello Radu,
>
> I'm well aware of using cvReleaseImage..
> Memory leak happens even if I use a single function on IplImage converted
> from sensor_msgs.
> Here's my callback function to illustrate. Usage of cvCopy here introduces
> memory blowup problem.
>
> void callback(const sensor_msgs::CameraInfo::ConstPtr& info,
>                            const sensor_msgs::ImageConstPtr& left,
>                            const stereo_msgs::DisparityImageConstPtr&
> disparity_msg)
>        {
>
>                im_left = left_bridge.imgMsgToCv(left, "passthrough");
>
>                disp_bridge.fromImage(disparity_msg->image, "passthrough");
>                dispImg = disp_bridge.toIpl();
>
>                cvShowImage("left", im_left);
>
>                IplImage* test = NULL;
>                test = cvCreateImage(cvGetSize(dispImg), dispImg->depth, 1);
>                cvCopy(dispImg, test);
>                cvShowImage("disp", test);
>       }
>
> Also, I'm not supposed to deallocate any IplImages that are converted from
> sensor_msgs as described in cvBridge tutorial.
> Is there a way to use opencv functions on IplImages and not use cv::Mat ?
>
> --
> View this message in context:
> http://ros-users.122217.n3.nabble.com/cvBridge-opencv-memory-leak-problem-tp837144p837162.html
> Sent from the ROS-Users mailing list archive at Nabble.com.
>
>
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