Merge pull request leggedrobotics#318 from leggedrobotics/fix/memory_…

…leak One line of code fixes everything!
Ar-Ray-code · May 3, 2021 · 36a4c9c · 36a4c9c
2 parents d28f10a + 2996594
commit 36a4c9c
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diff --git a/darknet_ros/launch/darknet_ros_valgrind.launch b/darknet_ros/launch/darknet_ros_valgrind.launch
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<launch>
+
+  <!-- Launch darknet ros with gdb launch prefix -->
+  <!-- Check the following links: -->
+  <!-- https://stackoverflow.com/questions/13500541/valgrind-how-to-force-it-to-generate-heap-summary-without-terminating-process -->
+  <!-- https://www.valgrind.org/docs/manual/manual-core-adv.html#manual-core-adv.gdbserver-commandhandling -->
+  <include file="$(find darknet_ros)/launch/darknet_ros.launch">
+    <arg name="launch_prefix"   value="valgrind --leak-check=full --show-leak-kinds=all --verbose --vgdb=yes --vgdb-error=0"/>
+  </include>
+
+</launch>
diff --git a/darknet_ros/src/YoloObjectDetector.cpp b/darknet_ros/src/YoloObjectDetector.cpp
@@ -369,6 +369,7 @@ void* YoloObjectDetector::fetchInThread() {
   {
     boost::shared_lock<boost::shared_mutex> lock(mutexImageCallback_);
     CvMatWithHeader_ imageAndHeader = getCvMatWithHeader();
+    free_image(buff_[buffIndex_]);
     buff_[buffIndex_] = mat_to_image(imageAndHeader.image);
     headerBuff_[buffIndex_] = imageAndHeader.header;
     buffId_[buffIndex_] = actionId_;