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surface_matching/PPF3DDetector::match : fix memory leak #2778

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Merged
merged 1 commit into from
Dec 8, 2020
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surface_matching/PPF3DDetector::match : fix memory leak #2778

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2 changes: 0 additions & 2 deletions modules/surface_matching/src/ppf_match_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -583,9 +583,7 @@ void PPF3DDetector::match(const Mat& pc, std::vector<Pose3DPtr>& results, const
poseList.push_back(pose);
}

#if defined (_OPENMP)
free(accumulator);
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uint* accumulator = (uint*)calloc(numAngles*n, sizeof(uint));

BTW, it is better to avoid manual memory management and use cv::AutoBuffer or std::vector.

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Totally agree.

Unfortunately I found this bug while helping a friend, not using this opencv module myself I do not feel confident enough to refactor the code to a proper "C++ style" memory management.

#endif
}

// TODO : Make the parameters relative if not arguments.
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