Fix UAF
parent
0bd8143057
commit
604f1511cc
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@ -229,8 +229,8 @@ TEST(FrobeniusWormholeFactor, equivalenceToSO3) {
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auto model = noiseModel::Isotropic::Sigma(6, 1.2); // wrong dimension
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auto factor3 = FrobeniusBetweenFactor<SO3>(1, 2, R12, model);
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auto factor4 = FrobeniusWormholeFactor(1, 2, Rot3(R12.matrix()), 4, model);
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const Eigen::Map<Matrix3> E3(factor3.evaluateError(R1, R2).data());
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const Eigen::Map<Matrix43> E4(
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const Matrix3 E3(factor3.evaluateError(R1, R2).data());
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const Matrix43 E4(
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factor4.evaluateError(SOn(Q1.matrix()), SOn(Q2.matrix())).data());
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EXPECT(assert_equal((Matrix)E4.topLeftCorner<3, 3>(), E3, 1e-9));
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EXPECT(assert_equal((Matrix)E4.row(3), Matrix13::Zero(), 1e-9));
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