Fixed segfault issue by adding virtual destructor

lagadic · Nov 15, 2024 · 8b4ed72 · 8b4ed72
1 parent a9caed8
commit 8b4ed72
Show file tree

Hide file tree

Showing 4 changed files with 14 additions and 37 deletions.
diff --git a/modules/tracker/rbt/include/visp3/rbt/vpDynamicFactory.h b/modules/tracker/rbt/include/visp3/rbt/vpDynamicFactory.h
@@ -59,24 +59,14 @@ class VISP_EXPORT vpDynamicFactory
     m_jsonBuilders[key] = function;
   }
 
-  void registerTypeRaw(const std::string &key, const std::function<std::shared_ptr<T>(const std::string &)> &function)
+  void registerTypeRaw(const std::string &key, const std::function<std::shared_ptr<T>(const std::string &)> function)
   {
     if (m_jsonBuilders.find(key) != m_jsonBuilders.end() || m_jsonRawBuilders.find(key) != m_jsonRawBuilders.end()) {
       throw vpException(vpException::badValue, "Type %s was already registered in the factory", key.c_str());
     }
-    std::cout << "IN REGISTERING RAW TYPE" << std::endl;
-    std::cout << "Key is " << key << std::endl;
 
-    // m_jsonRawBuilders.insert({ key, function });
+    m_jsonRawBuilders.insert({ key, function });
     // m_jsonRawBuilders[key] = [](const std::string &s) -> std::shared_ptr<T> {
-    m_raw = [](const std::string &s) -> std::shared_ptr<T> {
-      std::cout << "IN CPP LAMBDA, before calling python fn" << std::endl;
-      return nullptr;
-      // return function(s);
-      };
-    std::cout << "in register: THIS is " << (void *)(this) << std::endl;
-
-    std::cout << "IN REGISTERING RAW TYPE END" << std::endl;
 
   }
 
@@ -87,44 +77,30 @@ class VISP_EXPORT vpDynamicFactory
     if (m_jsonBuilders.find(key) != m_jsonBuilders.end()) {
       return m_jsonBuilders[key](j);
     }
+
+    else if (m_jsonRawBuilders.find(key) != m_jsonRawBuilders.end()) {
+      return m_jsonRawBuilders[key](j.dump());
+    }
     else {
-      std::cout << "in call: THIS is " << (void *)(this) << std::endl;
-
-      std::cout << "CALLING RAW METHOD!" << std::endl;
-      std::string rawRep = j.dump();
-      std::cout << rawRep << std::endl;
-      std::cout << (void *)(&m_raw) << std::endl;
-      std::shared_ptr<T> res = m_raw(rawRep);
-      std::cout << "After RAW METHOD!" << std::endl;
-      return res;
+      return nullptr;
     }
-
-    // else if (m_jsonRawBuilders.find(key) != m_jsonRawBuilders.end()) {
-    //   std::cout << "Before accessing map" << std::endl;
-    //   return m_jsonRawBuilders[key](j.dump());
-    // }
-    // else {
-    //   return nullptr;
-    // }
   }
 
+
   void setJsonKeyFinder(const std::function<std::string(const nlohmann::json &)> &finderFn)
   {
     m_keyFinder = finderFn;
   }
 #endif
 
-protected:
+  virtual ~vpDynamicFactory() { }
 
-  vpDynamicFactory()
-  {
-    std::cout << "in constructor: THIS is " << (void *)(this) << std::endl;
-  }
+protected:
 
+  vpDynamicFactory() = default;
 #if defined(VISP_HAVE_NLOHMANN_JSON)
   std::map<std::string, std::function<std::shared_ptr<T>(const nlohmann::json &)>> m_jsonBuilders;
   std::map<std::string, std::function<std::shared_ptr<T>(const std::string &)>> m_jsonRawBuilders;
-  std::function<std::shared_ptr<T>(const std::string &)> m_raw;
 
   std::function<std::string(const nlohmann::json &)> m_keyFinder; //! Function to retrieve the key from a json object
 #endif

diff --git a/modules/tracker/rbt/include/visp3/rbt/vpRBFeatureTrackerFactory.h b/modules/tracker/rbt/include/visp3/rbt/vpRBFeatureTrackerFactory.h
@@ -55,9 +55,9 @@ class VISP_EXPORT vpRBFeatureTrackerFactory : public vpDynamicFactory<vpRBFeatur
   static vpRBFeatureTrackerFactory &getFactory()
   {
     static vpRBFeatureTrackerFactory factory;
-    std::cout << "RBFEATUREFACTORY = " << (void *)(&factory) << std::endl;
     return factory;
   }
+
 };
 
 END_VISP_NAMESPACE

diff --git a/modules/tracker/rbt/include/visp3/rbt/vpRBTracker.h b/modules/tracker/rbt/include/visp3/rbt/vpRBTracker.h
@@ -97,6 +97,8 @@ class VISP_EXPORT vpRBTracker
   std::string getModelPath() const { return m_modelPath; }
   void setModelPath(const std::string &path);
 
+  std::vector<std::shared_ptr<vpRBFeatureTracker>> getFeatureTrackers() { return m_trackers; }
+
   vpCameraParameters getCameraParameters() const;
   void setCameraParameters(const vpCameraParameters &cam, unsigned h, unsigned w);
 

diff --git a/modules/tracker/rbt/src/features/vpRBFeatureTrackerFactory.cpp b/modules/tracker/rbt/src/features/vpRBFeatureTrackerFactory.cpp
@@ -39,7 +39,6 @@ BEGIN_VISP_NAMESPACE
 
 vpRBFeatureTrackerFactory::vpRBFeatureTrackerFactory()
 {
-  std::cout << "in RBFEATURE constructor: THIS is " << (void *)(this) << std::endl;
   setJsonKeyFinder([](const nlohmann::json &j) -> std::string {
     return j.at("type");
   });