From a40b7ef9f07466de64b98e3a635c42c211cd707c Mon Sep 17 00:00:00 2001
From: Victor Reijgwart <victor_reijgwart@hotmail.com>
Date: Sun, 30 Jun 2019 20:41:57 +0200
Subject: [PATCH] Fixed mem leak due to non-virtual ThreadSafeIndex base class
 destructor

---
 voxblox/include/voxblox/integrator/integrator_utils.h | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/voxblox/include/voxblox/integrator/integrator_utils.h b/voxblox/include/voxblox/integrator/integrator_utils.h
index b76e0e2c2..95d04689d 100644
--- a/voxblox/include/voxblox/integrator/integrator_utils.h
+++ b/voxblox/include/voxblox/integrator/integrator_utils.h
@@ -23,6 +23,13 @@ class ThreadSafeIndex {
  public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
+  // NOTE: The ThreadSafeIndex base destructor must be marked virtual.
+  //       Otherwise the destructors of derived classes don't get called when
+  //       derived class instances are destructed through base class pointers.
+  //       This would result leaking memory due to derived class member
+  //       variables not being freed.
+  virtual ~ThreadSafeIndex() = default;
+
   /// returns true if index is valid, false otherwise
   bool getNextIndex(size_t* idx);