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Allow STL files bigger than expected (printing a warning message). #951

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Dec 22, 2015
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Allow STL files bigger than expected (printing a warning message). #951

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15 changes: 11 additions & 4 deletions src/rviz/ogre_helpers/stl_loader.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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.");
Expand All @@ -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);
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Binary file modified src/test/meshes/invalid.stl
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Binary file added src/test/meshes/valid_extra.stl
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6 changes: 6 additions & 0 deletions src/test/stl_loader_test.cpp
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Expand Up @@ -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 ) {
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