Issue 42 - changes for slow memory leak

CMakeLists.txt

@@ -1,9 +1,11 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(openslam_gmapping)
 
 ## Find catkin macros and libraries
 find_package(catkin REQUIRED)
 
+add_compile_options(-std=c++17)
+
 include(GenerateExportHeader)
 set(EXPORT_HEADER_DIR "${CATKIN_DEVEL_PREFIX}/include")
 file(MAKE_DIRECTORY "${EXPORT_HEADER_DIR}")

LICENSE

@@ -0,0 +1,26 @@
+Copyright (c) 2019 Cyrill Stachniss, Udo Frese, Giorgio Grisetti, Wolfram Burgard
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Willow Garage, Inc. nor the names of its
+      contributors may be used to endorse or promote products derived from
+      this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

gridfastslam/gfs2log.cpp

@@ -15,12 +15,11 @@ using namespace GMapping::GFSReader;
 
 int main (int argc, const char * const * argv){
 	if (argc<3){
-		cout << "usage gfs2log [-err] [-neff] [-part] [-odom] <infilename> <outfilename>" << endl;
+		cout << "usage gfs2log [-err] [-part] [-odom] <infilename> <outfilename>" << endl;
 		cout << "  -odom : dump raw odometry in ODOM message instead of inpolated corrected one" << endl;
 		return -1;
 	}
 	bool err=0;
-	bool neff=0;
 	bool part=0;
 	bool odom=0;
 	//	int particle_num;
@@ -29,10 +28,6 @@ int main (int argc, const char * const * argv){
 		err=true;
 		c++;
 	}
-	if (!strcmp(argv[c],"-neff")){
-		neff=true;
-		c++;
-	}
 	if (!strcmp(argv[c],"-part")){
 		part=true;
 		c++;

gridfastslam/gfs2rec.cpp

@@ -375,16 +375,11 @@ int main (int argc, const char * const * argv){
 		return -1;
 	}
 	bool err=0;
-	bool neff=0;
 	unsigned int  c=1;
 	if (!strcmp(argv[c],"-err")){
 		err=true;
 		c++;
 	}
-	if (!strcmp(argv[c],"-neff")){
-		neff=true;
-		c++;
-	}
 	ifstream is(argv[c]);
 	if (!is){
 		cout << "could read file "<< endl;

gridfastslam/gridslamprocessor.cpp

@@ -409,8 +409,8 @@ void GridSlamProcessor::setMotionModelParameters
       }
       m_infoStream << "m_count " << m_count << endl;
 
-      RangeReading* reading_copy = 
-              new RangeReading(reading.size(),
+      std::shared_ptr<RangeReading> reading_copy =
+              std::make_shared<RangeReading>(reading.size(),
                                &(reading[0]),
                                static_cast<const RangeSensor*>(reading.getSensor()),
                                reading.getTime());
@@ -466,7 +466,8 @@ void GridSlamProcessor::setMotionModelParameters
       updateTreeWeights(false);
       //		cerr  << ".done!" <<endl;
 
-      delete [] plainReading;
+      delete[] plainReading;
+      plainReading=0;
       m_lastPartPose=m_odoPose; //update the past pose for the next iteration
       m_linearDistance=0;
       m_angularDistance=0;

include/gmapping/grid/array2d.h

@@ -1,6 +1,7 @@
 #ifndef ARRAY2D_H
 #define ARRAY2D_H
 
+#include <memory>
 #include <assert.h>
 #include <gmapping/utils/point.h>
 #include "gmapping/grid/accessstate.h"
@@ -11,6 +12,8 @@ namespace GMapping {
 
 template<class Cell, const bool debug=false> class Array2D{
 	public:
+    using CellArray = std::shared_ptr<Cell[]>;
+    using CellArray2d = std::shared_ptr<CellArray[]>;
 		Array2D(int xsize=0, int ysize=0);
 		Array2D& operator=(const Array2D &);
 		Array2D(const Array2D<Cell,debug> &);
@@ -33,29 +36,40 @@ template<class Cell, const bool debug=false> class Array2D{
 		inline int getPatchMagnitude() const{return 0;}
 		inline int getXSize() const {return m_xsize;}
 		inline int getYSize() const {return m_ysize;}
-		inline Cell** cells() {return m_cells;}
-		Cell ** m_cells;
+		inline CellArray2d cells() {return m_cells;}
+    CellArray2d m_cells;
 	protected:
-		int m_xsize, m_ysize;
+		int m_xsize = 0, m_ysize = 0;
 };
 
 
 template <class Cell, const bool debug>
 Array2D<Cell,debug>::Array2D(int xsize, int ysize){
 //	assert(xsize>0);
 //	assert(ysize>0);
-	m_xsize=xsize;
-	m_ysize=ysize;
-	if (m_xsize>0 && m_ysize>0){
-		m_cells=new Cell*[m_xsize];
+  // delete memory
+  if (m_cells)
+  {
+    m_cells.reset();
+  }
+  m_xsize=xsize;
+  m_ysize=ysize;
+	if (m_xsize>0 && m_ysize>0)
+  {
+    m_cells=CellArray2d(new CellArray[m_xsize], [](auto ptr){ delete[] ptr; });
 		for (int i=0; i<m_xsize; i++)
-			m_cells[i]=new Cell[m_ysize];
+    {
+      m_cells[i]=CellArray(new Cell[m_ysize], [](auto ptr){ delete[] ptr; });
+    }
 	}
-	else{
+	else
+  {
+    std::cerr << __func__ << "Invalid size: " << "m_xsize= " << m_xsize << " m_ysize= " << m_ysize << " - resetting " << std::endl;
 		m_xsize=m_ysize=0;
-		m_cells=0;
+    m_cells.reset();
 	}
-	if (debug){
+	if (debug)
+  {
 		std::cerr << __func__ << std::endl;
 		std::cerr << "m_xsize= " << m_xsize<< std::endl;
 		std::cerr << "m_ysize= " << m_ysize<< std::endl;
@@ -64,21 +78,40 @@ Array2D<Cell,debug>::Array2D(int xsize, int ysize){
 
 template <class Cell, const bool debug>
 Array2D<Cell,debug> & Array2D<Cell,debug>::operator=(const Array2D<Cell,debug> & g){
-	if (debug || m_xsize!=g.m_xsize || m_ysize!=g.m_ysize){
-		for (int i=0; i<m_xsize; i++)
-			delete [] m_cells[i];
-		delete [] m_cells;
+	if (debug || m_xsize!=g.m_xsize || m_ysize!=g.m_ysize)
+  {
+    // delete memory
+    if (m_cells)
+    {
+      m_cells.reset();
+    }
 		m_xsize=g.m_xsize;
 		m_ysize=g.m_ysize;
-		m_cells=new Cell*[m_xsize];
-		for (int i=0; i<m_xsize; i++)
-			m_cells[i]=new Cell[m_ysize];
+    if (m_xsize > 0 && m_ysize > 0)
+    {
+      m_cells = CellArray2d(new CellArray[m_xsize], [](auto ptr) { delete[] ptr; });
+      for (int i = 0; i < m_xsize; i++)
+      {
+        m_cells[i] = CellArray(new Cell[m_ysize], [](auto ptr) { delete[] ptr; });
+      }
+    }
+    else
+    {
+      std::cerr << __func__ << "Invalid size: " << "m_xsize= " << m_xsize << " m_ysize= " << m_ysize << " - resetting " << std::endl;
+      m_xsize = m_ysize = 0;
+      m_cells.reset();
+    }
 	}
 	for (int x=0; x<m_xsize; x++)
-		for (int y=0; y<m_ysize; y++)
-			m_cells[x][y]=g.m_cells[x][y];
+  {
+    for (int y = 0; y < m_ysize; y++)
+    {
+      m_cells[x][y] = g.m_cells[x][y];
+    }
+  }
 
-	if (debug){
+	if (debug)
+  {
 		std::cerr << __func__ << std::endl;
 		std::cerr << "m_xsize= " << m_xsize<< std::endl;
 		std::cerr << "m_ysize= " << m_ysize<< std::endl;
@@ -87,15 +120,33 @@ Array2D<Cell,debug> & Array2D<Cell,debug>::operator=(const Array2D<Cell,debug> &
 }
 
 template <class Cell, const bool debug>
-Array2D<Cell,debug>::Array2D(const Array2D<Cell,debug> & g){
+Array2D<Cell,debug>::Array2D(const Array2D<Cell,debug> & g)
+{
+  // delete memory
+  if (m_cells)
+  {
+    m_cells.reset();
+  }
 	m_xsize=g.m_xsize;
 	m_ysize=g.m_ysize;
-	m_cells=new Cell*[m_xsize];
-	for (int x=0; x<m_xsize; x++){
-		m_cells[x]=new Cell[m_ysize];
-		for (int y=0; y<m_ysize; y++)
-			m_cells[x][y]=g.m_cells[x][y];
-	}
+  if (m_xsize > 0 && m_ysize > 0)
+  {
+    m_cells = CellArray2d(new CellArray[m_xsize], [](auto ptr) { delete[] ptr; });
+    for (int x = 0; x < m_xsize; x++)
+    {
+      m_cells[x] = CellArray(new Cell[m_ysize], [](auto ptr) { delete[] ptr; });
+      for (int y = 0; y < m_ysize; y++)
+      {
+        m_cells[x][y] = g.m_cells[x][y];
+      }
+    }
+  }
+  else
+  {
+    std::cerr << __func__ << "Invalid size: " << "m_xsize= " << m_xsize << " m_ysize= " << m_ysize << " - resetting " << std::endl;
+    m_xsize=m_ysize=0;
+    m_cells.reset();
+  }
 	if (debug){
 		std::cerr << __func__ << std::endl;
 		std::cerr << "m_xsize= " << m_xsize<< std::endl;
@@ -107,42 +158,45 @@ template <class Cell, const bool debug>
 Array2D<Cell,debug>::~Array2D(){
   if (debug){
   	std::cerr << __func__ << std::endl;
-	std::cerr << "m_xsize= " << m_xsize<< std::endl;
-	std::cerr << "m_ysize= " << m_ysize<< std::endl;
+    std::cerr << "m_xsize= " << m_xsize<< std::endl;
+    std::cerr << "m_ysize= " << m_ysize<< std::endl;
   }
-  for (int i=0; i<m_xsize; i++){
-    delete [] m_cells[i];
-    m_cells[i]=0;
+  // delete memory
+  if (m_cells)
+  {
+    m_cells.reset();
   }
-  delete [] m_cells;
-  m_cells=0;
 }
 
 template <class Cell, const bool debug>
 void Array2D<Cell,debug>::clear(){
   if (debug){
   	std::cerr << __func__ << std::endl;
-	std::cerr << "m_xsize= " << m_xsize<< std::endl;
-	std::cerr << "m_ysize= " << m_ysize<< std::endl;
+    std::cerr << "m_xsize= " << m_xsize<< std::endl;
+    std::cerr << "m_ysize= " << m_ysize<< std::endl;
   }
-  for (int i=0; i<m_xsize; i++){
-    delete [] m_cells[i];
-    m_cells[i]=0;
+  // delete memory
+  if (m_cells)
+  {
+    m_cells.reset();
   }
-  delete [] m_cells;
-  m_cells=0;
   m_xsize=0;
   m_ysize=0;
 }
 
 
 template <class Cell, const bool debug>
 void Array2D<Cell,debug>::resize(int xmin, int ymin, int xmax, int ymax){
-	int xsize=xmax-xmin;
-	int ysize=ymax-ymin;
-	Cell ** newcells=new Cell *[xsize];
+	int xsize = xmax-xmin;
+	int ysize = ymax-ymin;
+  if (xsize <= 0 || ysize <= 0)
+  {
+    std::cerr << __func__ << "Invalid reset size: " << "xsize= " << xsize << " ysize= " << ysize << " - no-op " << std::endl;
+    return;
+  }
+  CellArray2d newcells=CellArray2d(new CellArray[xsize], [](auto ptr){ delete[] ptr; });
 	for (int x=0; x<xsize; x++){
-		newcells[x]=new Cell[ysize];
+    newcells[x]=CellArray(new Cell[ysize], [](auto ptr){ delete[] ptr; });;
 	}
 	int dx= xmin < 0 ? 0 : xmin;
 	int dy= ymin < 0 ? 0 : ymin;
@@ -152,9 +206,7 @@ void Array2D<Cell,debug>::resize(int xmin, int ymin, int xmax, int ymax){
 		for (int y=dy; y<Dy; y++){
 			newcells[x-xmin][y-ymin]=this->m_cells[x][y];
 		}
-		delete [] this->m_cells[x];
 	}
-	delete [] this->m_cells;
 	this->m_cells=newcells;
 	this->m_xsize=xsize;
 	this->m_ysize=ysize;