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Fix UAF

release/4.3a0
Fan Jiang 2020-06-20 12:09:03 -04:00
parent 0bd8143057
commit 604f1511cc
1 changed files with 2 additions and 2 deletions
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4
gtsam/slam/tests/testFrobeniusFactor.cpp
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@ -229,8 +229,8 @@ TEST(FrobeniusWormholeFactor, equivalenceToSO3) {
auto model = noiseModel::Isotropic::Sigma(6, 1.2); // wrong dimension auto model = noiseModel::Isotropic::Sigma(6, 1.2); // wrong dimension
auto factor3 = FrobeniusBetweenFactor<SO3>(1, 2, R12, model); auto factor3 = FrobeniusBetweenFactor<SO3>(1, 2, R12, model);
auto factor4 = FrobeniusWormholeFactor(1, 2, Rot3(R12.matrix()), 4, model); auto factor4 = FrobeniusWormholeFactor(1, 2, Rot3(R12.matrix()), 4, model);
const Eigen::Map<Matrix3> E3(factor3.evaluateError(R1, R2).data()); const Matrix3 E3(factor3.evaluateError(R1, R2).data());
const Eigen::Map<Matrix43> E4( const Matrix43 E4(
factor4.evaluateError(SOn(Q1.matrix()), SOn(Q2.matrix())).data()); 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.topLeftCorner<3, 3>(), E3, 1e-9));
EXPECT(assert_equal((Matrix)E4.row(3), Matrix13::Zero(), 1e-9)); EXPECT(assert_equal((Matrix)E4.row(3), Matrix13::Zero(), 1e-9));