Merge pull request #1815 from ethz-asl/pcl_1.8.0_devel

fixes some memory leaks in iss_3d
PointCloudLibrary · Feb 9, 2017 · eea6059 · eea6059
2 parents 5f91d7f + 0077da0
commit eea6059
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Showing 2 changed files with 12 additions and 4 deletions.
diff --git a/keypoints/include/pcl/keypoints/impl/iss_3d.hpp b/keypoints/include/pcl/keypoints/impl/iss_3d.hpp
@@ -459,6 +459,7 @@ pcl::ISSKeypoint3D<PointInT, PointOutT, NormalT>::detectKeypoints (PointCloudOut
   delete[] prg_mem;
   delete[] prg_local_mem;
   delete[] feat_max;
+  delete[] omp_mem;
 }
 
 #define PCL_INSTANTIATE_ISSKeypoint3D(T,U,N) template class PCL_EXPORTS pcl::ISSKeypoint3D<T,U,N>;

diff --git a/keypoints/include/pcl/keypoints/iss_3d.h b/keypoints/include/pcl/keypoints/iss_3d.h
@@ -127,6 +127,13 @@ namespace pcl
         search_radius_ = salient_radius_;
       }
 
+      /** \brief Destructor. */
+      ~ISSKeypoint3D ()
+      {
+        delete[] third_eigen_value_;
+        delete[] edge_points_;
+      }
+
       /** \brief Set the radius of the spherical neighborhood used to compute the scatter matrix.
         * \param[in] salient_radius the radius of the spherical neighborhood
         */
@@ -140,14 +147,14 @@ namespace pcl
       setNonMaxRadius (double non_max_radius);
 
       /** \brief Set the radius used for the estimation of the surface normals of the input cloud. If the radius is
-	* too large, the temporal performances of the detector may degrade significantly.
+        * too large, the temporal performances of the detector may degrade significantly.
         * \param[in] normal_radius the radius used to estimate surface normals
         */
       void
       setNormalRadius (double normal_radius);
 
       /** \brief Set the radius used for the estimation of the boundary points. If the radius is too large,
-	* the temporal performances of the detector may degrade significantly.
+        * the temporal performances of the detector may degrade significantly.
         * \param[in] border_radius the radius used to compute the boundary points
         */
       void
@@ -178,13 +185,13 @@ namespace pcl
       setNormals (const PointCloudNConstPtr &normals);
 
       /** \brief Set the decision boundary (angle threshold) that marks points as boundary or regular.
-	* (default \f$\pi / 2.0\f$)
+        * (default \f$\pi / 2.0\f$)
         * \param[in] angle the angle threshold
         */
       inline void
       setAngleThreshold (float angle)
       {
-	angle_threshold_ = angle;
+        angle_threshold_ = angle;
       }
 
       /** \brief Initialize the scheduler and set the number of threads to use.