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PointCloud display: fix memory leak in case of constant /clock #1412

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merged 2 commits into from
Sep 1, 2019
Merged

PointCloud display: fix memory leak in case of constant /clock #1412

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359b92d
avoid repeated toSec() calls
rhaschke Sep 1, 2019
69acbd8
PointCloud display: fix memory leak in case of constant /clock
rhaschke Sep 1, 2019
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6 changes: 3 additions & 3 deletions src/rviz/default_plugin/point_cloud_common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -532,15 +532,15 @@ void PointCloudCommon::update(float wall_dt, float ros_dt)
// and put them into obsolete_cloud_infos, so active selections
// are preserved

ros::Time now = ros::Time::now();
auto now_sec = ros::Time::now().toSec();

// if decay time == 0, clear the old cloud when we get a new one
// otherwise, clear all the outdated ones
{
boost::mutex::scoped_lock lock(new_clouds_mutex_);
if ( point_decay_time > 0.0 || !new_cloud_infos_.empty() )
{
while( !cloud_infos_.empty() && now.toSec() - cloud_infos_.front()->receive_time_.toSec() > point_decay_time )
while( !cloud_infos_.empty() && now_sec - cloud_infos_.front()->receive_time_.toSec() >= point_decay_time )
{
cloud_infos_.front()->clear();
obsolete_cloud_infos_.push_back( cloud_infos_.front() );
Expand Down Expand Up @@ -581,7 +581,7 @@ void PointCloudCommon::update(float wall_dt, float ros_dt)

V_CloudInfo::iterator next = it; next++;
// ignore point clouds that are too old, but keep at least one
if ( next != end && now.toSec() - cloud_info->receive_time_.toSec() > point_decay_time ) {
if ( next != end && now_sec - cloud_info->receive_time_.toSec() >= point_decay_time ) {
continue;
}

Expand Down