Merge pull request #90 from ethz-asl/fix/vi-map-optimizer-leak

fixed a leak, optimization problem was not freed
ethz-asl · Aug 15, 2018 · 978ca39 · 978ca39
2 parents 2db80eb + 1f05506
commit 978ca39
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Showing 2 changed files with 10 additions and 7 deletions.
diff --git a/algorithms/map-optimization/include/map-optimization/optimization-problem.h b/algorithms/map-optimization/include/map-optimization/optimization-problem.h
@@ -10,6 +10,7 @@
 #include <ceres-error-terms/parameterization/pose-param-jpl.h>
 #include <ceres-error-terms/parameterization/quaternion-param-jpl.h>
 #include <ceres-error-terms/problem-information.h>
+#include <maplab-common/macros.h>
 #include <vi-map-helpers/mission-clustering-coobservation.h>
 #include <vi-map/vi-map.h>
 
@@ -20,6 +21,8 @@ namespace map_optimization {
 
 class OptimizationProblem {
  public:
+  MAPLAB_POINTER_TYPEDEFS(OptimizationProblem);
+
   OptimizationProblem(
       vi_map::VIMap* vi_map, const vi_map::MissionIdSet& mission_ids);
 

diff --git a/algorithms/map-optimization/src/vi-map-optimizer.cc b/algorithms/map-optimization/src/vi-map-optimizer.cc
@@ -54,16 +54,16 @@ bool VIMapOptimizer::optimizeVisualInertial(
     return false;
   }
 
-  map_optimization::OptimizationProblem* optimization_problem =
-      map_optimization::constructViProblem(missions_to_optimize, options, map);
-  CHECK_NOTNULL(optimization_problem);
+  map_optimization::OptimizationProblem::UniquePtr optimization_problem(
+      map_optimization::constructViProblem(missions_to_optimize, options, map));
+  CHECK(optimization_problem != nullptr);
 
   std::vector<std::shared_ptr<ceres::IterationCallback>> callbacks;
   if (plotter_) {
     map_optimization::appendVisualizationCallbacks(
         FLAGS_ba_visualize_every_n_iterations,
-        *optimization_problem->getOptimizationStateBufferMutable(), *plotter_,
-        map, &callbacks);
+        *(optimization_problem->getOptimizationStateBufferMutable()),
+        *plotter_, map, &callbacks);
   }
   map_optimization::appendSignalHandlerCallback(&callbacks);
   ceres::Solver::Options solver_options_with_callbacks = solver_options;
@@ -73,10 +73,10 @@ bool VIMapOptimizer::optimizeVisualInertial(
   if (outlier_rejection_options != nullptr) {
     map_optimization::solveWithOutlierRejection(
         solver_options_with_callbacks, *outlier_rejection_options,
-        optimization_problem);
+        optimization_problem.get());
   } else {
     map_optimization::solve(
-        solver_options_with_callbacks, optimization_problem);
+        solver_options_with_callbacks, optimization_problem.get());
   }
 
   if (plotter_ != nullptr) {