probably wrong code is activated in localization mode causing to memory leak

[alexk1976]

rtabmap.cpp
line 1754
the following code supposed to be activated in the mapping only but actually running also in localization mode and causing to memory leak over time:

_constraints.insert(std::make_pair(tmp.from(), tmp));

can you explain what is the purpose of _constraints ?
we tried to fix it to
if(signature->getLinks().size() &&
signature->getLinks().begin()->second.type() == Link::kNeighbor && _memory->isIncremental())

but got some errors that some nodes not found in the graph..
thanks

[matlabbe]

You are referring to this line:

rtabmap/corelib/src/Rtabmap.cpp

Line 1754 in ddaf2f5

_constraints.insert(std::make_pair(tmp.from(), tmp));

There is an answer here about the same question: http://official-rtab-map-forum.206.s1.nabble.com/memory-increase-when-robot-is-static-tp10863p10874.html

Can you add

UASSERT(_memory->isIncremental())

under this if statement:

rtabmap/corelib/src/Rtabmap.cpp

Lines 1725 to 1728 in ddaf2f5

	// only in mapping mode we add a neighbor link
	if(signature->getLinks().size() &&
	signature->getLinks().begin()->second.type() == Link::kNeighbor)
	{

then launch rtabmap with --udebug argument to show all debug logs. Run till it asserts there and post the whole debug log here.