Localization: fix safety issue in base_map module

ZhihanLee · Aug 12, 2019 · a70665e · a70665e
1 parent eb35e95
commit a70665e
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Showing 2 changed files with 10 additions and 2 deletions.
diff --git a/modules/localization/msf/local_map/base_map/base_map_node.cc b/modules/localization/msf/local_map/base_map/base_map_node.cc
@@ -297,7 +297,11 @@ unsigned int BaseMapNode::LoadBodyBinary(std::vector<unsigned char>* buf) {
     return map_matrix_->LoadBinary(&((*buf)[0]));
   }
   std::vector<unsigned char> buf_uncompressed;
-  compression_strategy_->Decode(buf, &buf_uncompressed);
+  unsigned int ret = compression_strategy_->Decode(buf, &buf_uncompressed);
+  if (ret < 0) {
+    AERROR << "compression Decode error: " << ret;
+    return 0;
+  }
   AERROR << "map node compress ratio: "
          << static_cast<float>(buf->size()) /
                 static_cast<float>(buf_uncompressed.size());

diff --git a/modules/localization/msf/local_pyramid_map/base_map/base_map_node.cc b/modules/localization/msf/local_pyramid_map/base_map/base_map_node.cc
@@ -275,7 +275,11 @@ size_t BaseMapNode::LoadBodyBinary(std::vector<unsigned char>* buf) {
     return map_matrix_handler_->LoadBinary(&(*buf)[0], map_matrix_);
   }
   std::vector<unsigned char> buf_uncompressed;
-  compression_strategy_->Decode(buf, &buf_uncompressed);
+  unsigned int ret = compression_strategy_->Decode(buf, &buf_uncompressed);
+  if (ret < 0) {
+    AERROR << "compression Decode error: " << ret;
+    return 0;
+  }
   uncompressed_file_body_size_ = buf_uncompressed.size();
   AINFO << "map node compress ratio: "
         << static_cast<float>(buf->size()) /