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Fix and add CHECKs when writing X-ray output. (#120) 

Before the allocation was too large which resulted in excessive memory
consumption. Also adds CHECKs for the stride size and the success of the Cairo
writer function.
master
Wolfgang Hess 2016-11-08 16:14:35 +01:00 committed by GitHub
parent c80c2eaa40
commit a6aacd0647
1 changed files with 5 additions and 2 deletions
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7
cartographer/io/xray_points_processor.cc
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@ -49,7 +49,8 @@ void TakeLogarithm(Eigen::MatrixXf* mat) {
void WritePng(const string& filename, const Eigen::MatrixXf& mat) { void WritePng(const string& filename, const Eigen::MatrixXf& mat) {
const int stride = const int stride =
cairo_format_stride_for_width(CAIRO_FORMAT_ARGB32, mat.cols()); cairo_format_stride_for_width(CAIRO_FORMAT_ARGB32, mat.cols());
std::vector<uint32_t> pixels(stride * mat.rows(), 0.); CHECK_EQ(stride % 4, 0);
std::vector<uint32_t> pixels(stride / 4 * mat.rows(), 0.);
const float max = mat.maxCoeff(); const float max = mat.maxCoeff();
for (int y = 0; y < mat.rows(); ++y) { for (int y = 0; y < mat.rows(); ++y) {
@ -71,7 +72,9 @@ void WritePng(const string& filename, const Eigen::MatrixXf& mat) {
reinterpret_cast<unsigned char*>(pixels.data()), CAIRO_FORMAT_ARGB32, reinterpret_cast<unsigned char*>(pixels.data()), CAIRO_FORMAT_ARGB32,
mat.cols(), mat.rows(), stride), mat.cols(), mat.rows(), stride),
cairo_surface_destroy); cairo_surface_destroy);
cairo_surface_write_to_png(surface.get(), filename.c_str()); CHECK_EQ(cairo_surface_status(surface.get()), CAIRO_STATUS_SUCCESS);
CHECK_EQ(cairo_surface_write_to_png(surface.get(), filename.c_str()),
CAIRO_STATUS_SUCCESS);
} }
} // namespace } // namespace