Zed2 pointcloud memory leak

I encountered a severe memory problem when i run voxblox(using pointcloud to compute tsdf) using zed2, but not with realsense d435i.
And when I compared the pointcloud format of these two cameras, I find that the zed2’s pointcloud msg is organized and non-dense compared to realsense, is this the problem causing this memory leak thing?

Hi @pjym
Welcome to the Stereolabs community.

The ZED point cloud is indeed dense because the point cloud message contains all the points in an organized way such that each point of the map at (u,v) coordinate corresponds to the same point (u,v) of the RGB images.

What is the severe memory problem that you are facing with ZED?
Did you take into account that ZED’s point cloud is much bigger than RealSense point cloud which has a lower resolution?