Fixed a couple of security bugs

modules/localization/msf/local_tool/local_visualization/engine/visualization_engine.cc

@@ -195,12 +195,22 @@ void VisualizationEngine::Preprocess(const std::string &map_folder,
   std::string image_resolution_path = image_path + buf;
   AINFO << "image_resolution_path: " << image_resolution_path;
 
-  EnsureDirectory(image_visual_path);
+  if (!EnsureDirectory(image_visual_path)) {
+    AERROR << "image_visual_path: " << image_visual_path
+           << " cannot be created.";
+    return;
+  }
 
   if (DirectoryExists(image_visual_resolution_path_)) {
+    AINFO << "image_visual_resolution_path: " << image_visual_resolution_path_
+          << "already exists.";
+    return;
+  }
+  if (!EnsureDirectory(image_visual_resolution_path_)) {
+    AERROR << "image_visual_resolution_path: " << image_visual_resolution_path_
+           << " cannot be created.";
     return;
   }
-  EnsureDirectory(image_visual_resolution_path_);
 
   boost::filesystem::path image_resolution_path_boost(image_resolution_path);
   // push path of map's images to vector
@@ -256,8 +266,8 @@ void VisualizationEngine::Draw() {
 
   for (int i = 0; i < 3; ++i) {
     for (int j = 0; j < 3; ++j) {
-      subMat_[i]
-             [j].copyTo(big_window_(cv::Rect(j * 1024, i * 1024, 1024, 1024)));
+      subMat_[i][j].copyTo(
+          big_window_(cv::Rect(j * 1024, i * 1024, 1024, 1024)));
     }
   }
 
@@ -491,9 +501,10 @@ void VisualizationEngine::DrawLegend() {
     unsigned char b = color_table[i % 3][0];
     unsigned char g = color_table[i % 3][1];
     unsigned char r = color_table[i % 3][2];
-    cv::circle(image_window_, cv::Point(755, (15 + textSize.height) * (i + 1) -
-                                                 textSize.height / 2),
-               8, cv::Scalar(b, g, r), 3);
+    cv::circle(
+        image_window_,
+        cv::Point(755, (15 + textSize.height) * (i + 1) - textSize.height / 2),
+        8, cv::Scalar(b, g, r), 3);
   }
 }
 

modules/perception/obstacle/camera/visualizer/glfw_fusion_viewer.cc

@@ -800,6 +800,7 @@ void GLFWFusionViewer::keyboard(int key) {
       break;
     case GLFW_KEY_E:  // E
       draw_lane_objects_ = !draw_lane_objects_;
+      break;
     case GLFW_KEY_F:  // F
       show_fusion_ = !show_fusion_;
       break;

modules/prediction/common/prediction_map.cc

@@ -26,8 +26,8 @@
 #include <vector>
 
 #include "modules/common/math/linear_interpolation.h"
-#include "modules/common/math/vec2d.h"
 #include "modules/common/math/polygon2d.h"
+#include "modules/common/math/vec2d.h"
 #include "modules/map/hdmap/hdmap_util.h"
 #include "modules/map/proto/map_id.pb.h"
 #include "modules/prediction/common/prediction_gflags.h"
@@ -56,8 +56,8 @@ double PredictionMap::HeadingOnLane(std::shared_ptr<const LaneInfo> lane_info,
   return lane_info->Heading(s);
 }
 
-double PredictionMap::CurvatureOnLane(
-    const std::string& lane_id, const double s) {
+double PredictionMap::CurvatureOnLane(const std::string& lane_id,
+                                      const double s) {
   std::shared_ptr<const hdmap::LaneInfo> lane_info = LaneById(lane_id);
   return lane_info->Curvature(s);
 }
@@ -212,16 +212,15 @@ std::vector<std::shared_ptr<const JunctionInfo>> PredictionMap::GetJunctions(
   return junctions;
 }
 
-bool PredictionMap::InJunction(
-    const Eigen::Vector2d& point, const double radius) {
+bool PredictionMap::InJunction(const Eigen::Vector2d& point,
+                               const double radius) {
   auto junction_infos = GetJunctions(point, radius);
   Vec2d vec(point[0], point[1]);
   if (junction_infos.empty()) {
     return false;
   }
   for (const auto junction_info : junction_infos) {
-    if (junction_info == nullptr ||
-        !junction_info->junction().has_polygon()) {
+    if (junction_info == nullptr || !junction_info->junction().has_polygon()) {
       continue;
     }
     std::vector<Vec2d> vertices;
@@ -244,8 +243,11 @@ double PredictionMap::PathHeading(std::shared_ptr<const LaneInfo> lane_info,
   common::math::Vec2d vec_point = {point.x(), point.y()};
   double s = -1.0;
   double l = 0.0;
-  lane_info->GetProjection(vec_point, &s, &l);
-  return HeadingOnLane(lane_info, s);
+  if (lane_info->GetProjection(vec_point, &s, &l)) {
+    return HeadingOnLane(lane_info, s);
+  } else {
+    return M_PI;
+  }
 }
 
 bool PredictionMap::SmoothPointFromLane(const std::string& id, const double s,