Localization: Check buffer size before using.

modules/localization/msf/local_map/base_map/base_map_node.cc

@@ -29,7 +29,7 @@ namespace localization {
 namespace msf {
 
 BaseMapNode::BaseMapNode(BaseMapMatrix* matrix, CompressionStrategy* strategy)
-    : map_config_(NULL), map_matrix_(matrix), compression_strategy_(strategy) {
+    : map_matrix_(matrix), compression_strategy_(strategy) {
   is_changed_ = false;
   data_is_ready_ = false;
   is_reserved_ = false;
@@ -223,8 +223,8 @@ unsigned int BaseMapNode::CreateBinary(FILE* file) const {
   buf_size -= processed_size;
   binary_size += processed_size;
   // Create body
-  memcpy(&buffer[buffer_bias], &body_buffer[0], body_buffer.size());
   CHECK_GE(buf_size, body_buffer.size());
+  memcpy(&buffer[buffer_bias], &body_buffer[0], body_buffer.size());
   binary_size += body_buffer.size();
   fwrite(&buffer[0], 1, binary_size, file);
   return binary_size;

modules/localization/msf/local_map/base_map/base_map_node.h

@@ -188,7 +188,7 @@ class BaseMapNode {
   bool SaveIntensityImage(const std::string& path) const;
 
   /**@brief The map settings. */
-  const BaseMapConfig* map_config_;
+  const BaseMapConfig* map_config_ = nullptr;
   /**@brief The index of this node. */
   MapNodeIndex index_;
   /**@brief The left top corner of the map node in the global coordinate system.
@@ -205,7 +205,7 @@ class BaseMapNode {
   bool data_is_ready_;
   /**@brief The body binary size in file. It's useful when reading and writing
    * files. */
-  mutable unsigned int file_body_binary_size_;
+  mutable unsigned int file_body_binary_size_ = 0;
   /**@bried The compression strategy. */
   CompressionStrategy* compression_strategy_;
   /**@brief The min altitude of point cloud in the node. */