Fix memory leak in TextureMapping

[RLThomaz]

The member function pcl::TextureMapping<PointInT>::showOcclusions (const PointCloudPtr &input_cloud,... had a memory leak due to the use of a raw pointer (without deleting it after). I substituted it with (what I believe is) the smart pointer OctreePtr previously declared.

[kunaltyagi]

Thanks @RLThomaz 😄 👍

[kunaltyagi]

Is the pointer really required? Why not construct a simple object and skip creating a shared_ptr?

Solution might be not to use pointers

[kunaltyagi]

Please convert this into a normal variable so there's no need of memory allocation. No allocation, no leaks 😄

[RLThomaz]

Is the pointer really required? Why not construct a simple object and skip creating a shared_ptr?

Not really, indeed. That is where things get a bit fuzzy to me regarding the PCL standard, we can find this sort of thing throughout all modules - if I'm not mistaken.

Please convert this into a normal variable so there's no need of memory allocation. No allocation, no leaks

Sure, will do.

[kunaltyagi]

we can find this sort of thing throughout all modules

That's true. How did you find this mistake? Maybe we can run the sanity check/script to remove them.

[RLThomaz]

Ok, I removed the unnecessary smart pointer in two places.

That's true. How did you find this mistake? Maybe we can run the sanity check/script to remove them.

I'm using some static code analysis, more precisely cppcheck. But it will only check the headers I am actually using.

[RLThomaz]

@kunaltyagi I just realised that PCL has a CPP file for each separate module, so I was able to run the static analyser on it. We got many similar memory leaks throughout the codebase.

/home/ricardo/RLThomaz/pcl/apps/cloud_composer/src/cloud_view.cpp  137  warning nullPointerRedundantCheck: Either the condition 'item_to_remove' is redundant or there is possible null pointer dereference: item_to_remove.
/home/ricardo/RLThomaz/pcl/apps/src/openni_3d_concave_hull.cpp  156  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_3d_convex_hull.cpp  154  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_boundary_estimation.cpp  175  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_change_viewer.cpp  139  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_fast_mesh.cpp  142  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_feature_persistence.cpp  206  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_ii_normal_estimation.cpp  179  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_mls_smoothing.cpp  161  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_octree_compression.cpp  174  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_octree_compression.cpp  231  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_organized_compression.cpp  174  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_organized_compression.cpp  267  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_organized_edge_detection.cpp  249  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_organized_multi_plane_segmentation.cpp  194  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_planar_convex_hull.cpp  139  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_planar_segmentation.cpp  134  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_tracking.cpp  649  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_uniform_sampling.cpp  138  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/apps/src/openni_voxel_grid.cpp  132  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/cuda/apps/src/kinect_mapping.cpp  267  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/cuda/apps/src/kinect_normals_cuda.cpp  213  error memleak: Memory leak: filegrabber
/home/ricardo/RLThomaz/pcl/cuda/apps/src/kinect_normals_cuda.cpp  242  error memleak: Memory leak: grabber
/home/ricardo/RLThomaz/pcl/cuda/apps/src/kinect_planes_cuda.cpp  299  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/cuda/apps/src/kinect_ransac.cpp  219  error memleak: Memory leak: filegrabber
/home/ricardo/RLThomaz/pcl/cuda/apps/src/kinect_segmentation_cuda.cpp  387  error memleak: Memory leak: filegrabber
/home/ricardo/RLThomaz/pcl/cuda/apps/src/kinect_segmentation_cuda.cpp  416  error memleak: Memory leak: grabber
/home/ricardo/RLThomaz/pcl/cuda/apps/src/kinect_segmentation_planes_cuda.cpp  262  error memleak: Memory leak: filegrabber
/home/ricardo/RLThomaz/pcl/cuda/apps/src/kinect_segmentation_planes_cuda.cpp  291  error memleak: Memory leak: grabber
/home/ricardo/RLThomaz/pcl/doc/tutorials/content/sources/ground_based_rgbd_people_detection/src/main_ground_based_people_detection.cpp  248  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/doc/tutorials/content/sources/point_cloud_compression/point_cloud_compression.cpp  83  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/gpu/people/tools/people_tracking.cpp  73  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/gpu/people/tools/people_tracking.cpp  128  error memleak: Memory leak: app.m_proc
/home/ricardo/RLThomaz/pcl/io/src/openni2_grabber.cpp  346  error syntaxError: syntax error
/home/ricardo/RLThomaz/pcl/io/src/openni_grabber.cpp  369  error syntaxError: syntax error
/home/ricardo/RLThomaz/pcl/ml/src/svm.cpp  2354  error memleakOnRealloc: Common realloc mistake: 'label' nulled but not freed upon failure
/home/ricardo/RLThomaz/pcl/ml/src/svm.cpp  2355  error memleakOnRealloc: Common realloc mistake: 'count' nulled but not freed upon failure
/home/ricardo/RLThomaz/pcl/ml/src/svm.cpp  3122  error memleakOnRealloc: Common realloc mistake: 'line' nulled but not freed upon failure
/home/ricardo/RLThomaz/pcl/ml/src/svm.cpp  3523  error memleakOnRealloc: Common realloc mistake: 'label' nulled but not freed upon failure
/home/ricardo/RLThomaz/pcl/ml/src/svm.cpp  3524  error memleakOnRealloc: Common realloc mistake: 'count' nulled but not freed upon failure
/home/ricardo/RLThomaz/pcl/ml/src/svm.cpp  3181  error memleak: Memory leak: model.scaling
/home/ricardo/RLThomaz/pcl/people/apps/main_ground_based_people_detection.cpp  255  error memleak: Memory leak: interface
/home/ricardo/RLThomaz/pcl/surface/src/3rdparty/opennurbs/opennurbs_beam.cpp  868  warning nullPointerRedundantCheck: Either the condition '0!=polycurve' is redundant or there is possible null pointer dereference: polycurve.
/home/ricardo/RLThomaz/pcl/surface/src/3rdparty/opennurbs/opennurbs_beam.cpp  2517  error nullPointer: Possible null pointer dereference: k
/home/ricardo/RLThomaz/pcl/surface/src/3rdparty/opennurbs/opennurbs_beam.cpp  2962  error nullPointer: Possible null pointer dereference: null_brep_pointer
/home/ricardo/RLThomaz/pcl/surface/src/3rdparty/opennurbs/opennurbs_beam.cpp  2936  warning nullPointerRedundantCheck: Either the condition 'newbrep' is redundant or there is possible null pointer dereference: newbrep.
/home/ricardo/RLThomaz/pcl/surface/src/3rdparty/opennurbs/opennurbs_brep_tools.cpp  1269  warning nullPointerRedundantCheck: Either the condition '!brep' is redundant or there is possible null pointer dereference: brep.
/home/ricardo/RLThomaz/pcl/surface/src/3rdparty/opennurbs/opennurbs_brep_tools.cpp  1860  warning nullPointerRedundantCheck: Either the condition '!Srf' is redundant or there is possible null pointer dereference: Srf.
/home/ricardo/RLThomaz/pcl/surface/src/3rdparty/opennurbs/opennurbs_polycurve.cpp  2803  warning nullPointerRedundantCheck: Either the condition 'pLeftSide' is redundant or there is possible null pointer dereference: pLeftSide.
/home/ricardo/RLThomaz/pcl/surface/src/3rdparty/opennurbs/opennurbs_polycurve.cpp  2808  warning nullPointerRedundantCheck: Either the condition 'pRightSide' is redundant or there is possible null pointer dereference: pRightSide.
/home/ricardo/RLThomaz/pcl/surface/src/3rdparty/poisson4/marching_cubes_poisson.cpp  752  error uninitvar: Uninitialized variable: v
/home/ricardo/RLThomaz/pcl/surface/src/3rdparty/poisson4/marching_cubes_poisson.cpp  867  error uninitvar: Uninitialized variable: v
/home/ricardo/RLThomaz/pcl/surface/src/3rdparty/poisson4/marching_cubes_poisson.cpp  883  error uninitvar: Uninitialized variable: v
/home/ricardo/RLThomaz/pcl/test/2d/test_2d.cpp  124  error memleak: Memory leak: k
/home/ricardo/RLThomaz/pcl/test/2d/test_2d.cpp  124  error memleak: Memory leak: conv
/home/ricardo/RLThomaz/pcl/test/2d/test_2d.cpp  157  error memleak: Memory leak: k
/home/ricardo/RLThomaz/pcl/test/2d/test_2d.cpp  157  error memleak: Memory leak: conv
/home/ricardo/RLThomaz/pcl/test/2d/test_2d.cpp  296  error memleak: Memory leak: morph
/home/ricardo/RLThomaz/pcl/test/2d/test_2d.cpp  329  error memleak: Memory leak: morph
/home/ricardo/RLThomaz/pcl/test/2d/test_2d.cpp  362  error memleak: Memory leak: morph
/home/ricardo/RLThomaz/pcl/test/2d/test_2d.cpp  395  error memleak: Memory leak: morph
/home/ricardo/RLThomaz/pcl/test/io/test_octree_compression.cpp  111  error memleak: Memory leak: pointcloud_encoder
/home/ricardo/RLThomaz/pcl/test/io/test_octree_compression.cpp  111  error memleak: Memory leak: pointcloud_decoder
/home/ricardo/RLThomaz/pcl/test/io/test_octree_compression.cpp  156  error memleak: Memory leak: pointcloud_encoder
/home/ricardo/RLThomaz/pcl/test/io/test_octree_compression.cpp  156  error memleak: Memory leak: pointcloud_decoder
/home/ricardo/RLThomaz/pcl/test/search/test_auto_search.cpp  187  error memleak: Memory leak: octree
/home/ricardo/RLThomaz/pcl/test/search/test_auto_search.cpp  311  error memleak: Memory leak: kdtree
/home/ricardo/RLThomaz/pcl/test/search/test_auto_search.cpp  309  error memleak: Memory leak: kdtree
/home/ricardo/RLThomaz/pcl/test/search/test_auto_search.cpp  325  error memleak: Memory leak: search
/home/ricardo/RLThomaz/pcl/test/search/test_auto_search.cpp  344  error memleak: Memory leak: kdtree
/home/ricardo/RLThomaz/pcl/test/search/test_flann_search.cpp  128  error memleak: Memory leak: FlannSearch
/home/ricardo/RLThomaz/pcl/test/search/test_flann_search.cpp  127  error memleak: Memory leak: FlannSearch
/home/ricardo/RLThomaz/pcl/test/search/test_flann_search.cpp  174  error memleak: Memory leak: FlannSearch
/home/ricardo/RLThomaz/pcl/test/search/test_flann_search.cpp  207  error memleak: Memory leak: FlannSearch
/home/ricardo/RLThomaz/pcl/test/search/test_flann_search.cpp  252  error memleak: Memory leak: flann_search
/home/ricardo/RLThomaz/pcl/test/search/test_flann_search.cpp  378  error memleak: Memory leak: FlannSearch
/home/ricardo/RLThomaz/pcl/test/search/test_kdtree.cpp  123  error memleak: Memory leak: kdtree
/home/ricardo/RLThomaz/pcl/test/search/test_kdtree.cpp  122  error memleak: Memory leak: kdtree
/home/ricardo/RLThomaz/pcl/test/search/test_kdtree.cpp  166  error memleak: Memory leak: kdtree
/home/ricardo/RLThomaz/pcl/test/search/test_kdtree.cpp  196  error memleak: Memory leak: kdtree
/home/ricardo/RLThomaz/pcl/test/search/test_kdtree.cpp  208  error memleak: Memory leak: kdtree
/home/ricardo/RLThomaz/pcl/test/search/test_octree.cpp  167  error memleak: Memory leak: octree
/home/ricardo/RLThomaz/pcl/test/search/test_organized_index.cpp  173  error memleak: Memory leak: organizedNeighborSearch
/home/ricardo/RLThomaz/pcl/test/search/test_organized_index.cpp  202  error memleak: Memory leak: organizedNeighborSearch
/home/ricardo/RLThomaz/pcl/test/search/test_organized_index.cpp  375  error memleak: Memory leak: organizedNeighborSearch
/home/ricardo/RLThomaz/pcl/test/search/test_organized_index.cpp  461  error memleak: Memory leak: organizedNeighborSearch
/home/ricardo/RLThomaz/pcl/test/search/test_organized_index.cpp  600  error memleak: Memory leak: organizedNeighborSearch
/home/ricardo/RLThomaz/pcl/test/test_recognition_ransac_based_ORROctree.cpp  117  error memleak: Memory leak: new_model
/home/ricardo/RLThomaz/pcl/tools/mesh_sampling.cpp  92  error nullPointer: Possible null pointer dereference: ptIds
/home/ricardo/RLThomaz/pcl/tools/mesh_sampling.cpp  93  error nullPointer: Possible null pointer dereference: ptIds
/home/ricardo/RLThomaz/pcl/tools/mesh_sampling.cpp  94  error nullPointer: Possible null pointer dereference: ptIds
/home/ricardo/RLThomaz/pcl/tools/mesh_sampling.cpp  115  error nullPointer: Possible null pointer dereference: ptIds
/home/ricardo/RLThomaz/pcl/tools/mesh_sampling.cpp  116  error nullPointer: Possible null pointer dereference: ptIds
/home/ricardo/RLThomaz/pcl/tools/mesh_sampling.cpp  117  error nullPointer: Possible null pointer dereference: ptIds
/home/ricardo/RLThomaz/pcl/tools/oni_viewer_simple.cpp  210  error memleak: Memory leak: grabber
/home/ricardo/RLThomaz/pcl/visualization/src/point_cloud_handlers.cpp  741  error memleak: Memory leak: pts

[kunaltyagi]

The errors with Either the condition <insert condition> is redundant or there is possible null pointer dereference are sometimes redundant 😆

[RLThomaz]

The errors with Either the condition <insert condition> is redundant or there is possible null pointer dereference is sometimes redundant

Indeed, but they are just warnings - I ran that to output inconclusive issues. I'm now building the PCL trunk in a docker container so I can check against all header files. This output was only for the CPP files found ignoring all headers includes, i.e., actual implementation code.