From 604f1511ccd6bab7e14b6eb71249d29606e5188f Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Sat, 20 Jun 2020 12:09:03 -0400 Subject: [PATCH] Fix UAF --- gtsam/slam/tests/testFrobeniusFactor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/slam/tests/testFrobeniusFactor.cpp b/gtsam/slam/tests/testFrobeniusFactor.cpp index 3aefeeb1a..9cb0c19fa 100644 --- a/gtsam/slam/tests/testFrobeniusFactor.cpp +++ b/gtsam/slam/tests/testFrobeniusFactor.cpp @@ -229,8 +229,8 @@ TEST(FrobeniusWormholeFactor, equivalenceToSO3) { auto model = noiseModel::Isotropic::Sigma(6, 1.2); // wrong dimension auto factor3 = FrobeniusBetweenFactor(1, 2, R12, model); auto factor4 = FrobeniusWormholeFactor(1, 2, Rot3(R12.matrix()), 4, model); - const Eigen::Map E3(factor3.evaluateError(R1, R2).data()); - const Eigen::Map 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));