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Fix pointer delete. #86

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Fix pointer delete. #86

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5 changes: 4 additions & 1 deletion vins_estimator/src/estimator/estimator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1376,7 +1376,10 @@ void Estimator::slideWindow()
{
map<double, ImageFrame>::iterator it_0;
it_0 = all_image_frame.find(t_0);
delete it_0->second.pre_integration;
if (it_0->second.pre_integration!=nullptr) {
delete it_0->second.pre_integration;
it_0->second.pre_integration = nullptr;
}
all_image_frame.erase(all_image_frame.begin(), it_0);
}
slideWindowOld();
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