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Fix memory leak in TextureMapping #3549

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merged 4 commits into from
Jan 16, 2020
Merged

Fix memory leak in TextureMapping #3549

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f94b39d
Merge pull request #1 from PointCloudLibrary/master
RLThomaz Jan 14, 2020
c9cdd8b
Update texture_mapping.hpp
RLThomaz Jan 14, 2020
7302982
Update texture_mapping.hpp
RLThomaz Jan 14, 2020
4211583
Changed unnecessary Octree pointers.
RLThomaz Jan 14, 2020
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21 changes: 10 additions & 11 deletions surface/include/pcl/surface/impl/texture_mapping.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -415,13 +415,13 @@ pcl::TextureMapping<PointInT>::removeOccludedPoints (const PointCloudPtr &input_
double maxDeltaZ = octree_voxel_size;

// create an octree to perform rayTracing
OctreePtr octree (new Octree (octree_voxel_size));
Octree octree (octree_voxel_size);
// create octree structure
octree->setInputCloud (input_cloud);
octree.setInputCloud (input_cloud);
// update bounding box automatically
octree->defineBoundingBox ();
octree.defineBoundingBox ();
// add points in the tree
octree->addPointsFromInputCloud ();
octree.addPointsFromInputCloud ();

visible_indices.clear ();

Expand All @@ -435,7 +435,7 @@ pcl::TextureMapping<PointInT>::removeOccludedPoints (const PointCloudPtr &input_
direction (2) = input_cloud->points[i].z;

// if point is not occluded
octree->getIntersectedVoxelIndices (direction, -direction, indices);
octree.getIntersectedVoxelIndices (direction, -direction, indices);

int nbocc = static_cast<int> (indices.size ());
for (const int &index : indices)
Expand Down Expand Up @@ -647,14 +647,13 @@ pcl::TextureMapping<PointInT>::showOcclusions (const PointCloudPtr &input_cloud,
double maxDeltaZ = octree_voxel_size * 2.0;

// create an octree to perform rayTracing
pcl::octree::OctreePointCloudSearch<PointInT> *octree;
octree = new pcl::octree::OctreePointCloudSearch<PointInT> (octree_voxel_size);
Octree octree (octree_voxel_size);
// create octree structure
octree->setInputCloud (input_cloud);
octree.setInputCloud (input_cloud);
// update bounding box automatically
octree->defineBoundingBox ();
octree.defineBoundingBox ();
// add points in the tree
octree->addPointsFromInputCloud ();
octree.addPointsFromInputCloud ();

// ray direction
Eigen::Vector3f direction;
Expand All @@ -677,7 +676,7 @@ pcl::TextureMapping<PointInT>::showOcclusions (const PointCloudPtr &input_cloud,

// get number of occlusions for that point
indices.clear ();
int nbocc = octree->getIntersectedVoxelIndices (direction, -direction, indices);
int nbocc = octree.getIntersectedVoxelIndices (direction, -direction, indices);

nbocc = static_cast<int> (indices.size ());

Expand Down