Memory increasing problem

[OliverShaoPT]

Dear Author, thanks for your great work.

I build the sliding window LIO using BALM 2.0. After calling opt_lsv.damping_iter(...) function, the total memory occupancy increase, about 100MB each time. Any advise?

Waiting for your kindly reply.

[OliverShaoPT]

Problem solved.

In left_evaluate(...) and left_evaluate_acc2(), "vector<PLM(4)> Cs" was created and use "PLM(4) Co = new PLM(4)(win_size, Eigen::Matrix4d::Zero());" to push data, but *Co haven't been deleted after calculation.

Add "for (int i=0; i<Cs.size();i++) delete Cs[i];" at the end of function, the memory increasing issue disappear.

[satyajitghana]

thanks!

[gongjun136]

@OliverShaoPT Memory will still grow rapidly, and I feel that the algorithm still has some memory leaks.