Cameras Memory Leaks

Runtime/Tx/CompressedImageTx.cs

@@ -81,6 +81,9 @@ public void Dispose()
 
         private bool __active = false;
 
+        private bool inRequest;
+        private bool disposing;
+
         protected override void AfterEnable()
         {
             if (renderCamera == null)
@@ -112,6 +115,7 @@ protected override void AfterEnable()
             __pb.Init(textureWidth, textureHeight);
 
             __active = true;
+            disposing = false;
             __readyRawTextureData.Reset();
             jpegCompressionThread = new Thread(JpegCompressor);
             jpegCompressionThread.Start();
@@ -122,10 +126,20 @@ protected override void AfterEnable()
 
         protected override void AfterDisable()
         {
-            __active = false;
+            if(inRequest)
+            {
+                disposing = true;
+                return;
+            }
 
-            CancelInvoke(nameof(RenderLoop));
-            CancelInvoke(nameof(CalcFPS));
+            __active = false;
+
+            // This might be called after the component got destroyed; prevents getting a null ref exception.
+            if (this != null)
+            {
+                CancelInvoke(nameof(RenderLoop));
+                CancelInvoke(nameof(CalcFPS));
+            }
 
             if (jpegCompressionThread != null)
             {
@@ -163,6 +177,9 @@ void RenderLoop()
                 __pb.useRender = false;
                 __pb.timeRender = ProBridgeServer.SimTime;
 
+                if (inRequest) return;
+                inRequest = true;
+
                 switch (format)
                 {
                     case Format.jpeg:
@@ -178,6 +195,13 @@ void RenderLoop()
 
         private void OnCompleteReadback(AsyncGPUReadbackRequest request)
         {
+            inRequest = false;
+            if (disposing)
+            {
+                AfterDisable();
+                return;
+            }
+
             __pb.useRender = true;
             if (request.hasError || !__active || !__pb.useCompressor)
                 return;

Runtime/Tx/DepthCameraTx.cs

@@ -43,6 +43,11 @@ protected override void AfterEnable()
         _cameraSensor.Init();
     }
 
+    protected override void AfterDisable()
+    {
+        _cameraSensor.DisposeSensor();
+    }
+
     private void OnSensorUpdated()
     {
         sensorReady = true;

Runtime/Utils/UnitySensors/Scripts/Sensors/Camera/DepthCamera/DepthCameraSensor.cs

@@ -168,16 +168,25 @@ private bool LoadTexture()
 
         protected override void OnSensorDestroy()
         {
-            _jobHandle.Complete();
-            _pointCloud.Dispose();
-            _noises.Dispose();
-            _directions.Dispose();
-            _rt.Release();
+            // _jobHandle.Complete();
+            // _pointCloud.Dispose();
+            // _noises.Dispose();
+            // _directions.Dispose();
+            // _rt.Release();
         }
 
         private void OnRenderImage(RenderTexture source, RenderTexture dest)
         {
             Graphics.Blit(source, dest, mat);
         }
+
+        public void DisposeSensor()
+        {
+            _jobHandle.Complete();
+            _pointCloud.Dispose();
+            _noises.Dispose();
+            _directions.Dispose();
+            _rt.Release();
+        }
     }
 }