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 ?

[matlabbe]

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