fix(compare_map_segmentation): fix process died for invalid access au…

…towarefoundation#4676 (#753) fix(compare_map_segmentation): fix process died for invalid access (autowarefoundation#4676) * fix(compare_map_segmentation): fix process died for invalid access * style(pre-commit): autofix * fix: missing username in TODO * fix: change condition * fix --------- Signed-off-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Aug 21, 2023 · 40e791e · 40e791e
1 parent 30a4eaf
commit 40e791e
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/...ption/compare_map_segmentation/include/compare_map_segmentation/voxel_grid_map_loader.hpp b/...ption/compare_map_segmentation/include/compare_map_segmentation/voxel_grid_map_loader.hpp
@@ -260,7 +260,8 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader
       int index = static_cast<int>(
         std::floor((kv.second.min_b_x - origin_x_) / map_grid_size_x_) +
         map_grids_x_ * std::floor((kv.second.min_b_y - origin_y_) / map_grid_size_y_));
-      if (index >= map_grids_x_ * map_grids_y_) {
+      // TODO(1222-takeshi): check if index is valid
+      if (index >= map_grids_x_ * map_grids_y_ || index < 0) {
         continue;
       }
       current_voxel_grid_array_.at(index) = std::make_shared<MapGridVoxelInfo>(kv.second);