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Replace pointers with vectors.
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Avoid exception "Exception: basic_ios::clear: iostream error" when loading a CAO model without new line at the end of the file.
Add sanity checks when loading CAO models.
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@s-trinh
s-trinh committed Dec 22, 2024
1 parent 2beba7d commit d195822
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Showing 3 changed files with 328 additions and 71 deletions.
6 changes: 5 additions & 1 deletion cmake/VISPUtils.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -1849,7 +1849,11 @@ function(vp_find_dataset found location version major minor patch)

# Check version
if(_found)
if(EXISTS "${_location}/circle/circle.png")
if(EXISTS "${_location}/mbt-cao/circle_model.cao")
set(_major "3")
set(_minor "7")
set(_patch "0")
elseif(EXISTS "${_location}/circle/circle.png")
set(_major "3")
set(_minor "6")
set(_patch "0")
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141 changes: 71 additions & 70 deletions modules/tracker/mbt/src/vpMbTracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1679,6 +1679,8 @@ std::map<std::string, std::string> vpMbTracker::parseParameters(std::string &end
void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::string> &vectorOfModelFilename,
int &startIdFace, bool verbose, bool parent, const vpHomogeneousMatrix &odTo)
{
const unsigned int maxDataCAO = 100000; // arbitrary value

std::ifstream fileId;
fileId.exceptions(std::ifstream::failbit | std::ifstream::eofbit);
fileId.open(modelFile.c_str(), std::ifstream::in);
Expand Down Expand Up @@ -1845,17 +1847,14 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st
std::cout << "> " << caoNbrPoint << " points" << std::endl;
}

if (caoNbrPoint > 100000) {
if (caoNbrPoint > maxDataCAO) {
throw vpException(vpException::badValue, "Exceed the max number of points in the CAO model.");
}

if (caoNbrPoint == 0 && !header) {
throw vpException(vpException::badValue, "in vpMbTracker::loadCAOModel() -> no points are defined");
}
vpPoint *caoPoints = new vpPoint[caoNbrPoint];

int i; // image coordinate (used for matching)
int j;
std::vector<vpPoint> caoPoints(caoNbrPoint);

for (unsigned int k = 0; k < caoNbrPoint; k++) {
removeComment(fileId);
Expand All @@ -1866,6 +1865,8 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st
fileId >> pt_3d[2];

if (caoVersion == 2) {
// glob values (not used in MBT but for matching)
int i, j; // image coordinate (used for matching)
fileId >> i;
fileId >> j;
}
Expand All @@ -1886,21 +1887,20 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st
fileId.ignore(std::numeric_limits<std::streamsize>::max(), fileId.widen('\n')); // skip the rest of the line

nbLines += caoNbrLine;
unsigned int *caoLinePoints = nullptr;
std::vector<unsigned int> caoLinePoints;
if (verbose || (parent && !header)) {
#if defined(VISP_HAVE_THREADS)
std::lock_guard<std::mutex> lock(g_mutex_cout);
#endif
std::cout << "> " << caoNbrLine << " lines" << std::endl;
}

if (caoNbrLine > 100000) {
delete[] caoPoints;
if (caoNbrLine > maxDataCAO) {
throw vpException(vpException::badValue, "Exceed the max number of lines in the CAO model.");
}

if (caoNbrLine > 0)
caoLinePoints = new unsigned int[2 * caoNbrLine];
caoLinePoints.resize(2 * caoNbrLine);

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unsigned int index1, index2;
// Initialization of idFace with startIdFace for dealing with recursive
Expand Down Expand Up @@ -1976,9 +1976,7 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st
std::cout << "> " << caoNbrPolygonLine << " polygon lines" << std::endl;
}

if (caoNbrPolygonLine > 100000) {
delete[] caoPoints;
delete[] caoLinePoints;
if (caoNbrPolygonLine > maxDataCAO) {
throw vpException(vpException::badValue, "Exceed the max number of polygon lines.");
}

Expand All @@ -1989,7 +1987,7 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st
unsigned int nbLinePol;
fileId >> nbLinePol;
std::vector<vpPoint> corners;
if (nbLinePol > 100000) {
if (nbLinePol > maxDataCAO) {

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throw vpException(vpException::badValue, "Exceed the max number of lines.");
}

Expand Down Expand Up @@ -2065,7 +2063,7 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st
std::cout << "> " << caoNbrPolygonPoint << " polygon points" << std::endl;
}

if (caoNbrPolygonPoint > 100000) {
if (caoNbrPolygonPoint > maxDataCAO) {
throw vpException(vpException::badValue, "Exceed the max number of polygon point.");
}

Expand All @@ -2074,7 +2072,7 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st

unsigned int nbPointPol;
fileId >> nbPointPol;
if (nbPointPol > 100000) {
if (nbPointPol > maxDataCAO) {
throw vpException(vpException::badValue, "Exceed the max number of points.");
}
std::vector<vpPoint> corners;
Expand Down Expand Up @@ -2121,8 +2119,6 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st

if (fileId.eof()) { // check if not at the end of the file (for old
// style files)
delete[] caoPoints;
delete[] caoLinePoints;
return;
}

Expand All @@ -2138,7 +2134,7 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st
std::cout << "> " << caoNbCylinder << " cylinders" << std::endl;
}

if (caoNbCylinder > 100000) {
if (caoNbCylinder > maxDataCAO) {
throw vpException(vpException::badValue, "Exceed the max number of cylinders.");
}

Expand Down Expand Up @@ -2203,68 +2199,76 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st

if (fileId.eof()) { // check if not at the end of the file (for old
// style files)
delete[] caoPoints;
delete[] caoLinePoints;
return;
}

/* Extract the circles */
fileId >> caoNbCircle;
fileId.ignore(std::numeric_limits<std::streamsize>::max(), fileId.widen('\n')); // skip the rest of the line

nbCircles += caoNbCircle;
if (verbose || (parent && !header)) {
// To handle CAO model file without no new line at the end, we check if the first char is zero or not
// Otherwise "fileId >> caoNbCircle;" gives:
// "Cannot get the number of circles. Defaulting to zero."
// "Exception: basic_ios::clear: iostream error"
char c_circle;
fileId.get(c_circle);
int nb_circles = c_circle - '0';
if (nb_circles > 0) {
fileId.unget();

/* Extract the circles */
fileId >> caoNbCircle;
fileId.ignore(std::numeric_limits<std::streamsize>::max(), fileId.widen('\n')); // skip the rest of the line

nbCircles += caoNbCircle;
if (verbose || (parent && !header)) {
#if defined(VISP_HAVE_THREADS)
std::lock_guard<std::mutex> lock(g_mutex_cout);
std::lock_guard<std::mutex> lock(g_mutex_cout);
#endif
std::cout << "> " << caoNbCircle << " circles" << std::endl;
}
std::cout << "> " << caoNbCircle << " circles" << std::endl;
}

if (caoNbCircle > 100000) {
throw vpException(vpException::badValue, "Exceed the max number of cicles.");
}
if (caoNbCircle > maxDataCAO) {
throw vpException(vpException::badValue, "Exceed the max number of cicles.");

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}

for (unsigned int k = 0; k < caoNbCircle; ++k) {
removeComment(fileId);
for (unsigned int k = 0; k < caoNbCircle; ++k) {
removeComment(fileId);

double radius;
unsigned int indexP1, indexP2, indexP3;
fileId >> radius;
fileId >> indexP1;
fileId >> indexP2;
fileId >> indexP3;

//////////////////////////Read the parameter value if present//////////////////////////
// Get the end of the line
std::string endLine = "";
if (safeGetline(fileId, endLine).good()) {
std::map<std::string, std::string> mapOfParams = parseParameters(endLine);

std::string polygonName = "";
bool useLod = !applyLodSettingInConfig ? useLodGeneral : false;
double minPolygonAreaThreshold = !applyLodSettingInConfig ? minPolygonAreaThresholdGeneral : 2500.0;
if (mapOfParams.find("name") != mapOfParams.end()) {
polygonName = mapOfParams["name"];

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}
if (mapOfParams.find("minPolygonAreaThreshold") != mapOfParams.end()) {
minPolygonAreaThreshold = std::atof(mapOfParams["minPolygonAreaThreshold"].c_str());

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}
if (mapOfParams.find("useLod") != mapOfParams.end()) {
useLod = vpIoTools::parseBoolean(mapOfParams["useLod"]);

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}

double radius;
unsigned int indexP1, indexP2, indexP3;
fileId >> radius;
fileId >> indexP1;
fileId >> indexP2;
fileId >> indexP3;
addPolygon(caoPoints[indexP1], caoPoints[indexP2], caoPoints[indexP3], radius, idFace, polygonName, useLod,
minPolygonAreaThreshold);

//////////////////////////Read the parameter value if present//////////////////////////
// Get the end of the line
std::string endLine = "";
if (safeGetline(fileId, endLine).good()) {
std::map<std::string, std::string> mapOfParams = parseParameters(endLine);
initCircle(caoPoints[indexP1], caoPoints[indexP2], caoPoints[indexP3], radius, idFace, polygonName);

std::string polygonName = "";
bool useLod = !applyLodSettingInConfig ? useLodGeneral : false;
double minPolygonAreaThreshold = !applyLodSettingInConfig ? minPolygonAreaThresholdGeneral : 2500.0;
if (mapOfParams.find("name") != mapOfParams.end()) {
polygonName = mapOfParams["name"];
addProjectionErrorPolygon(caoPoints[indexP1], caoPoints[indexP2], caoPoints[indexP3], radius, idFace,
polygonName, useLod, minPolygonAreaThreshold);
initProjectionErrorCircle(caoPoints[indexP1], caoPoints[indexP2], caoPoints[indexP3], radius, idFace++,
polygonName);
}
if (mapOfParams.find("minPolygonAreaThreshold") != mapOfParams.end()) {
minPolygonAreaThreshold = std::atof(mapOfParams["minPolygonAreaThreshold"].c_str());
}
if (mapOfParams.find("useLod") != mapOfParams.end()) {
useLod = vpIoTools::parseBoolean(mapOfParams["useLod"]);
}

addPolygon(caoPoints[indexP1], caoPoints[indexP2], caoPoints[indexP3], radius, idFace, polygonName, useLod,
minPolygonAreaThreshold);

initCircle(caoPoints[indexP1], caoPoints[indexP2], caoPoints[indexP3], radius, idFace, polygonName);

addProjectionErrorPolygon(caoPoints[indexP1], caoPoints[indexP2], caoPoints[indexP3], radius, idFace,
polygonName, useLod, minPolygonAreaThreshold);
initProjectionErrorCircle(caoPoints[indexP1], caoPoints[indexP2], caoPoints[indexP3], radius, idFace++,
polygonName);
}
}

}
catch (const std::exception &e) {
std::cerr << "Cannot get the number of circles. Defaulting to zero." << std::endl;
Expand All @@ -2274,9 +2278,6 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st

startIdFace = idFace;

delete[] caoPoints;
delete[] caoLinePoints;

if (header && parent) {
if (verbose) {
#if defined(VISP_HAVE_THREADS)
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