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Check imu_data array size before access (#392)

master
Jihoon Lee 2017-07-06 14:32:45 +02:00 committed by Wolfgang Hess
parent 3f4d795c3e
commit 75d5b7a453
1 changed files with 6 additions and 4 deletions
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10
cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc
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@ -89,10 +89,12 @@ void OptimizationProblem::TrimTrajectoryNode(const mapping::NodeId& node_id) {
CHECK_EQ(trajectory_data.num_trimmed_nodes, node_id.node_index); CHECK_EQ(trajectory_data.num_trimmed_nodes, node_id.node_index);
auto& node_data = node_data_.at(node_id.trajectory_id); auto& node_data = node_data_.at(node_id.trajectory_id);
CHECK(!node_data.empty()); CHECK(!node_data.empty());
const common::Time node_time = node_data.front().time; if (node_id.trajectory_id < static_cast<int>(imu_data_.size())) {
auto& imu_data = imu_data_.at(node_id.trajectory_id); const common::Time node_time = node_data.front().time;
while (imu_data.size() > 1 && imu_data[1].time <= node_time) { auto& imu_data = imu_data_.at(node_id.trajectory_id);
imu_data.pop_front(); while (imu_data.size() > 1 && imu_data[1].time <= node_time) {
imu_data.pop_front();
}
} }
node_data.pop_front(); node_data.pop_front();
++trajectory_data.num_trimmed_nodes; ++trajectory_data.num_trimmed_nodes;