probably wrong code is activated in localization mode causing to memory leak

[alexk1976]

rtabmap.cpp
line 1754
the following code supposed to be activated in the mapping only but actually running also in localization mode and causing to memory leak:

_constraints.insert(std::make_pair(tmp.from(), tmp));

I assume needs to add _memory->isIncremental() to this condition:
if(signature->getLinks().size() &&
signature->getLinks().begin()->second.type() == Link::kNeighbor && _memory->isIncremental())

thanks