memory increase when robot is static

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memory increase when robot is static

agodlin
hello i have noticed my memory increase when robot is static in localization mode
after some checking i see the member _constraints is increasing over time.

line is inside Rtabmap.cpp :  _constraints.insert(std::make_pair(tmp.from(), tmp));

i dont see constraints are getting removed ever when robot is static.

what could be the reason for this or this is a bug ?
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Re: memory increase when robot is static

matlabbe
Administrator
If the code goes there, you are not in localization mode. In mapping mode, it would increase even if the robot is not moving if RGBD/LinearUpdate or RGBD/AngularUpdate are zeros.

Related topic https://github.com/introlab/rtabmap/issues/494#issuecomment-777145931