Use assimp to load stl (#1063)

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

rviz_rendering/CMakeLists.txt

@@ -78,7 +78,6 @@ add_library(rviz_rendering SHARED
   src/rviz_rendering/render_system.cpp
   src/rviz_rendering/render_window.cpp
   src/rviz_rendering/resource_config.cpp
-  src/rviz_rendering/mesh_loader_helpers/stl_loader.cpp
   src/rviz_rendering/mesh_loader_helpers/assimp_loader.cpp
   src/rviz_rendering/string_helper.cpp
   src/rviz_rendering/objects/arrow.cpp

rviz_rendering/src/rviz_rendering/mesh_loader.cpp

@@ -65,7 +65,6 @@
 #include "resource_retriever/retriever.hpp"
 
 #include "mesh_loader_helpers/assimp_loader.hpp"
-#include "mesh_loader_helpers/stl_loader.hpp"
 #include "rviz_rendering/logging.hpp"
 
 namespace rviz_rendering
@@ -107,20 +106,6 @@ Ogre::MeshPtr loadMeshFromResource(const std::string & resource_path)
       stream->close();
 
       return mesh;
-    } else if (ext == "stl" || ext == "STL" || ext == "stlb" || ext == "STLB") {
-      auto res = getResource(resource_path);
-
-      if (res.size == 0) {
-        return Ogre::MeshPtr();
-      }
-
-      STLLoader stl_loader;
-      if (!stl_loader.load(res.data.get(), res.size, resource_path)) {
-        RVIZ_RENDERING_LOG_ERROR_STREAM("Failed to load file [" << resource_path.c_str() << "]");
-        return Ogre::MeshPtr();
-      }
-
-      return stl_loader.toMesh(resource_path);
     } else {
       AssimpLoader assimp_loader;
 

rviz_rendering_tests/test/mesh_loader_test.cpp

@@ -95,8 +95,7 @@ TEST_F(MeshLoaderTestFixture, can_load_stl_files) {
   float expected_bound_radius = 34.920441f;
   size_t expected_vertex_count = 35532;
   size_t actual_vertex_count = 0;
-  // Meshes are divided and stored in submeshes with at most 2004 vertices each.
-  for (int i = 0; i < 18; ++i) {
+  for (size_t i = 0; i < mesh->getNumSubMeshes(); ++i) {
     actual_vertex_count += mesh->getSubMesh(i)->vertexData->vertexCount;
   }
   ASSERT_TRUE(mesh->isManuallyLoaded());
@@ -126,6 +125,13 @@ TEST_F(MeshLoaderTestFixture, loading_invalid_stl_files_fail) {
   ASSERT_FALSE(rviz_rendering::loadMeshFromResource(mesh_path));
 }
 
+TEST_F(MeshLoaderTestFixture, loading_invalid_ascii_stl_file) {
+  /// Load an invalid STL binary file (size does not match the expected size).
+  std::string mesh_path = "package://rviz_rendering_tests/test_meshes/invalid_ascii.stl";
+
+  ASSERT_FALSE(rviz_rendering::loadMeshFromResource(mesh_path));
+}
+
 TEST_F(MeshLoaderTestFixture, loading_invalid_stl_files_should_fail) {
   /// Load an invalid STL binary file (size does not match the expected size,
   /// but does if incorrectly read as an 16-bit uint)
@@ -135,13 +141,12 @@ TEST_F(MeshLoaderTestFixture, loading_invalid_stl_files_should_fail) {
   ASSERT_FALSE(rviz_rendering::loadMeshFromResource(mesh_path));
 }
 
-TEST_F(MeshLoaderTestFixture, loading_almost_valid_stl_files_should_succed) {
+TEST_F(MeshLoaderTestFixture, loading_almost_invalid_stl_files_should_fail) {
   /// 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.
-  std::string mesh_path = "package://rviz_rendering_tests/test_meshes/valid_extra.stl";
+  /// expected. The file will not load.
+  std::string mesh_path = "package://rviz_rendering_tests/test_meshes/invalid_extra.stl";
 
-  ASSERT_TRUE(rviz_rendering::loadMeshFromResource(mesh_path));
+  EXPECT_FALSE(rviz_rendering::loadMeshFromResource(mesh_path));
 }
 
 TEST_F(MeshLoaderTestFixture, loading_stl_mesh_twice_should_not_fail) {