From 7c6cbcb8d133181c68e54e7338ae3cf204d08966 Mon Sep 17 00:00:00 2001
From: caguero <caguero@osrfoundation.org>
Date: Wed, 9 Dec 2015 16:36:32 -0800
Subject: [PATCH] Allow STL files bigger than expected (printing a warning
 message).

---
 src/rviz/ogre_helpers/stl_loader.cpp |  15 +++++++++++----
 src/test/meshes/invalid.stl          | Bin 194 -> 175 bytes
 src/test/meshes/valid_extra.stl      | Bin 0 -> 210 bytes
 src/test/stl_loader_test.cpp         |   6 ++++++
 4 files changed, 17 insertions(+), 4 deletions(-)
 create mode 100644 src/test/meshes/valid_extra.stl

diff --git a/src/rviz/ogre_helpers/stl_loader.cpp b/src/rviz/ogre_helpers/stl_loader.cpp
index 9af955700a..c85dca72cd 100644
--- a/src/rviz/ogre_helpers/stl_loader.cpp
+++ b/src/rviz/ogre_helpers/stl_loader.cpp
@@ -123,7 +123,7 @@ bool STLLoader::load(uint8_t* buffer, const size_t num_bytes, const std::string&
   static const size_t binary_stl_header_len = 84;
   if (num_bytes <= binary_stl_header_len)
   {
-    ROS_ERROR_STREAM("The STL file '" << origin <<"' is malformed. It "
+    ROS_ERROR_STREAM("The STL file '" << origin << "' is malformed. It "
                      "appears to be a binary STL file but does not contain "
                      "enough data for the 80 byte header and 32-bit integer "
                      "triangle count.");
@@ -134,15 +134,22 @@ bool STLLoader::load(uint8_t* buffer, const size_t num_bytes, const std::string&
   unsigned int num_triangles = *(reinterpret_cast<uint32_t *>(buffer + 80));
   static const size_t number_of_bytes_per_triangle = 50;
   size_t expected_size = binary_stl_header_len + num_triangles * number_of_bytes_per_triangle;
-  if (num_bytes != expected_size)
+  if (num_bytes < expected_size)
   {
     ROS_ERROR_STREAM("The STL file '" << origin << "' is malformed. According "
                      "to the binary STL header it should have '" <<
-                     num_triangles << "' triangles, but it has too " <<
-                     (num_bytes > expected_size ? "much" : "little") <<
+                     num_triangles << "' triangles, but it has too little" <<
                      " data for that to be the case.");
     return false;
   }
+  else if (num_bytes > expected_size)
+  {
+    ROS_WARN_STREAM("The STL file '" << origin << "' is malformed. According "
+                    "to the binary STL header it should have '" <<
+                    num_triangles << "' triangles, but it has too much" <<
+                    " data for that to be the case. The extra data will be" <<
+                    " ignored.");
+  }
 
   // load the binary STL data
   return this->load_binary(buffer);
diff --git a/src/test/meshes/invalid.stl b/src/test/meshes/invalid.stl
index 7c5cb1ffe2b82018e4ab54da70d7ba9b342a232a..a3638efc771f8c6c91db23aadcff4b587cbefb6a 100644
GIT binary patch
delta 8
PcmX@axSnysIz}!44wM4D

delta 27
XcmZ3_c!+VrIuSO9vuAi57*GHJXzB#<

diff --git a/src/test/meshes/valid_extra.stl b/src/test/meshes/valid_extra.stl
new file mode 100644
index 0000000000000000000000000000000000000000..1f3ce405d0324c3157ab3d9a9e453a6c4c3ac53e
GIT binary patch
literal 210
zcmZ?D%u6h)R0t07QAo?oNoAlEFaZrXd*+Po*)u+Nvu4h;1G4RaLiV#}O4=J68`}fL
z?bFiI>=_sufb1Ti_)IvRmbMJ2W;0Ok08s1<Q0^vB?K7a*XP_8^Ls}Y}!`U-D4nQ`8
eYeh*>qC!eyNuokYzCu!}LS}kieo<<Q9v1+UeK#Ng

literal 0
HcmV?d00001

diff --git a/src/test/stl_loader_test.cpp b/src/test/stl_loader_test.cpp
index 57ad07cff4..dcad610946 100644
--- a/src/test/stl_loader_test.cpp
+++ b/src/test/stl_loader_test.cpp
@@ -30,6 +30,12 @@ TEST( STLLoader, load )
   // Load a valid STL binary file.
   meshFilePath = meshDir / "valid.stl";
   EXPECT_TRUE(loader.load(meshFilePath.string()));
+
+  // Load a "potentially" valid STL binary file with bigger size than the
+  // expected. The extra "unexpected" data at the end of the file should be
+  // ignored.
+  meshFilePath = meshDir / "valid_extra.stl";
+  EXPECT_TRUE(loader.load(meshFilePath.string()));
 }
 
 int main( int argc, char **argv ) {