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