Cleaned up memory leaks

5 files changed, 41 insertions, 53 deletions

diff --git a/src/epnp/epnp.h b/src/epnp/epnp.h
index 9ca3a2e..0a42b04 100644
--- a/src/epnp/epnp.h
+++ b/src/epnp/epnp.h
@@ -46,6 +46,7 @@ typedef struct {
 	double cws_determinant;
 } epnp;
 
+void epnp_dtor(epnp *self);
 void epnp_set_internal_parameters(epnp *self, double uc, double vc, double fu, double fv);
 void epnp_set_maximum_number_of_correspondences(epnp *self, int n);
 void epnp_reset_correspondences(epnp *self);
diff --git a/src/epnp/opencv_shim.c b/src/epnp/opencv_shim.c
index d7886d0..df2765b 100644
--- a/src/epnp/opencv_shim.c
+++ b/src/epnp/opencv_shim.c
@@ -28,29 +28,7 @@ const int CV_64F = 0;
 typedef double doublereal;
 
 #define F77_FUNC(func) func##_
-/*
-extern int F77_FUNC(dgetrs)(char *trans, int *n, int *nrhs, double *a, int *lda, int *ipiv, double *b, int *ldb, int
-*info);
-
-extern int F77_FUNC(dgetri)(int *n, double *a, int *lda, int *ipiv, double *work, int *lwork, int *info);
-extern int F77_FUNC(dgetrf)(int *m, int *n, double *a, int *lda, int *ipiv, int *info); /* blocked LU
-
-extern int F77_FUNC(dgesvd)(char *jobu, char *jobvt,
-				int *m, int *n,
-				double *a, int *lda, double *s, double *u, int *ldu,
-				double *vt, int *ldvt, double *work, int *lwork,
-				int *info);
-
-extern int F77_FUNC(dgesdd)(char *jobz,
-				int *m, int *n, double *a, int *lda,
-		   double *s, double *u, int *ldu, double *vt, int *ldvt,
-		   double *work, int *lwork, int *iwork, int *info);
-
-extern int dgemm_(char *transa, char *transb, lapack_lapack_int *m, lapack_lapack_int *
-	n, lapack_lapack_int *k, double *alpha, double *a, lapack_lapack_int *lda,
-	double *b, lapack_lapack_int *ldb, double *beta, double *c, lapack_lapack_int
-	   *ldc);
-*/
+
 void cvGEMM(const CvMat *src1, const CvMat *src2, double alpha, const CvMat *src3, double beta, CvMat *dst, int tABC) {
 	lapack_int rows1 = src1->rows;
 	lapack_int cols1 = src1->cols;
@@ -85,7 +63,7 @@ void cvMulTransposed(const CvMat *src, CvMat *dst, int order, const CvMat *delta
 	lapack_int drows = dst->rows;
 	assert(drows == cols);
 	assert(order == 1 ? (dst->cols == src->cols) : (dst->cols == src->rows));
-	assert(delta == 0); // THIS ISN'T IMPLEMENTED YET
+	assert(delta == 0 && "This isn't implemented yet");
 	double beta = 0;
 
 	bool isAT = order == 1;
@@ -93,16 +71,12 @@ void cvMulTransposed(const CvMat *src, CvMat *dst, int order, const CvMat *delta
 
 	lapack_int dstCols = dst->cols;
 
-	cblas_dgemm(CblasRowMajor, isAT ? CblasTrans : CblasNoTrans, isBT ? CblasTrans : CblasNoTrans,
-				cols, // isAT ? cols : rows,
-				dstCols,
-				rows, // isAT ? rows : cols,
+	cblas_dgemm(CblasRowMajor, isAT ? CblasTrans : CblasNoTrans, isBT ? CblasTrans : CblasNoTrans, cols, dstCols, rows,
 				scale,
 
 				src->data.db, cols, src->data.db, cols, beta,
 
 				dst->data.db, dstCols);
-	// const CvMat* delta, double scale
 }
 
 void *cvAlloc(size_t size) { return malloc(size); }
@@ -242,14 +216,15 @@ double cvInvert(const CvMat *srcarr, CvMat *dstarr, int method) {
 		free(ipiv);
 
 	} else if (method == DECOMP_SVD) {
-
+		// TODO: There is no way this needs this many allocations,
+		// but in my defense I was very tired when I wrote this code
 		CvMat *w = cvCreateMat(1, MIN(dstarr->rows, dstarr->cols), dstarr->type);
 		CvMat *u = cvCreateMat(dstarr->cols, dstarr->cols, dstarr->type);
 		CvMat *v = cvCreateMat(dstarr->rows, dstarr->rows, dstarr->type);
-		cvSVD(dstarr, w, u, v, 0);
-
 		CvMat *um = cvCreateMat(w->cols, w->cols, w->type);
 
+		cvSVD(dstarr, w, u, v, 0);
+
 		cvSetZero(um);
 		for (int i = 0; i < w->cols; i++) {
 			cvmSet(um, i, i, 1. / w->data.db[i]);
@@ -258,6 +233,12 @@ double cvInvert(const CvMat *srcarr, CvMat *dstarr, int method) {
 		CvMat *tmp = cvCreateMat(dstarr->cols, dstarr->rows, dstarr->type);
 		cvGEMM(v, um, 1, 0, 0, tmp, GEMM_1_T);
 		cvGEMM(tmp, u, 1, 0, 0, dstarr, GEMM_2_T);
+
+		cvReleaseMat(&tmp);
+		cvReleaseMat(&w);
+		cvReleaseMat(&u);
+		cvReleaseMat(&v);
+		cvReleaseMat(&um);
 	}
 	return 0;
 }
@@ -333,11 +314,9 @@ int cvSolve(const CvMat *Aarr, const CvMat *xarr, CvMat *Barr, int method) {
 		assert(Barr->cols == xCpy->cols);
 		xCpy->rows = acols;
 		cvCopyTo(xCpy, Barr);
-/*
-Barr->data = xCpy->data;
-Barr->rows = acols;
-Barr->cols = xCpy->cols;
-*/
+
+		cvReleaseMat(&aCpy);
+		cvReleaseMat(&xCpy);
 #ifdef DEBUG_PRINT
 		print_mat(Barr);
 #endif
diff --git a/src/poser_epnp.c b/src/poser_epnp.c
index 21e61ae..7749c7b 100644
--- a/src/poser_epnp.c
+++ b/src/poser_epnp.c
@@ -85,6 +85,8 @@ static int opencv_solver_fullscene(SurviveObject *so, PoserDataFullScene *pdfs)
 
 		SurvivePose lighthouse = solve_correspondence(so, &pnp, true);
 		PoserData_lighthouse_pose_func(&pdfs->hdr, so, lh, &lighthouse);
+
+		epnp_dtor(&pnp);
 	}
 	return 0;
 }
@@ -137,6 +139,8 @@ int PoserEPNP(SurviveObject *so, PoserData *pd) {
 				quatrotateabout(txPose.Rot, so->ctx->bsd[lh].Pose.Rot, pose.Rot);
 				PoserData_poser_raw_pose_func(pd, so, lh, &txPose);
 			}
+
+			epnp_dtor(&pnp);
 		}
 
 		return 0;
diff --git a/src/survive.c b/src/survive.c
index e09ae13..a27ba3e 100755
--- a/src/survive.c
+++ b/src/survive.c
@@ -340,7 +340,8 @@ void survive_close( SurviveContext * ctx )
 	{
 		PoserData pd;
 		pd.pt = POSERDATA_DISASSOCIATE;
-		if( ctx->objs[i]->PoserFn ) ctx->objs[i]->PoserFn( ctx->objs[i], &pd );
+		if (ctx->objs[i]->PoserFn)
+			ctx->objs[i]->PoserFn(ctx->objs[i], &pd);
 	}
 
 	for( i = 0; i < oldct; i++ )
@@ -354,6 +355,10 @@ void survive_close( SurviveContext * ctx )
 	destroy_config_group(ctx->global_config_values);
 	destroy_config_group(ctx->lh_config);
 
+	for (i = 0; i < ctx->objs_ct; i++) {
+		free(ctx->objs[i]);
+	}
+
 	free( ctx->objs );
 	free( ctx->drivers );
 	free( ctx->driverpolls );
diff --git a/src/survive_playback.c b/src/survive_playback.c
index fe7af2b..c4564c4 100644
--- a/src/survive_playback.c
+++ b/src/survive_playback.c
@@ -160,6 +160,7 @@ static int playback_close(struct SurviveContext *ctx, void *_driver) {
 	if (driver->playback_file)
 		fclose(driver->playback_file);
 	driver->playback_file = 0;
+
 	return 0;
 }
 
@@ -184,7 +185,11 @@ static int LoadConfig(SurvivePlaybackData *sv, SurviveObject *so) {
 	ct0conf[len] = 0;
 
 	printf("Loading config: %d\n", len);
-	return survive_load_htc_config_format(ct0conf, len, so);
+	int rtn = survive_load_htc_config_format(ct0conf, len, so);
+
+	free(ct0conf);
+
+	return rtn;
 }
 
 int DriverRegPlayback(SurviveContext *ctx) {
@@ -217,20 +222,14 @@ int DriverRegPlayback(SurviveContext *ctx) {
 	SurviveObject *tr0 = survive_create_tr0(ctx, "Playback", sp);
 	SurviveObject *ww0 = survive_create_ww0(ctx, "Playback", sp);
 
-	if (!LoadConfig(sp, hmd)) {
-		survive_add_object(ctx, hmd);
-	}
-	if (!LoadConfig(sp, wm0)) {
-		survive_add_object(ctx, wm0);
-	}
-	if (!LoadConfig(sp, wm1)) {
-		survive_add_object(ctx, wm1);
-	}
-	if (!LoadConfig(sp, tr0)) {
-		survive_add_object(ctx, tr0);
-	}
-	if (!LoadConfig(sp, ww0)) {
-		survive_add_object(ctx, ww0);
+	SurviveObject *objs[] = {hmd, wm0, wm1, tr0, ww0, 0};
+
+	for (SurviveObject **obj = objs; *obj; obj++) {
+		if (!LoadConfig(sp, *obj)) {
+			survive_add_object(ctx, *obj);
+		} else {
+			free(*obj);
+		}
 	}
 
 	survive_add_driver(ctx, sp, playback_poll, playback_close, 0);