Added proper exception handling to avoid segfault if the model path is wrong (#4)

Author: MatthijsBurgh

CMakeLists.txt

@@ -9,13 +9,13 @@ add_compile_options(-Wextra -Werror=extra)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-find_package(console_bridge REQUIRED)
-find_package(OpenCV REQUIRED)
 find_package(catkin REQUIRED
   COMPONENTS
   onnxruntime_ros
 )
 
+find_package(console_bridge REQUIRED)
+find_package(OpenCV REQUIRED)
 
 set(${PROJECT_NAME}_CUDA_ENABLED ${onnxruntime_ros_CUDA_ENABLED})
 if(${PROJECT_NAME}_CUDA_ENABLED)
@@ -47,9 +47,9 @@ include_directories(
   ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}
   SYSTEM
   ${${PROJECT_NAME}_CUDA_INCLUDE_DIRS}
+  ${console_bridge_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
-  ${console_bridge_INCLUDE_DIRS}
 )
 
 add_library(${PROJECT_NAME}
@@ -59,9 +59,9 @@ add_library(${PROJECT_NAME}
 )
 
 target_link_libraries(${PROJECT_NAME}
+  ${console_bridge_LIBRARIES}
   ${OpenCV_LIBRARIES}
   ${catkin_LIBRARIES}
-  ${console_bridge_LIBRARIES}
   ${${PROJECT_NAME}_CUDA_TARGET_LINK_LIBRARIES}
 )
 

src/sam_inference.cpp

@@ -118,14 +118,9 @@ const char* SAM::CreateSession(SEG::DL_INIT_PARAM& iParams)
     }
     catch (const std::exception& e)
     {
-        const char* str1 = "[SAM]: ";
-        const char* str2 = e.what();
-        std::string str_result = std::string(str1) + std::string(str2);
-        char* merged = new char[str_result.length() + 1];
-        std::strcpy(merged, str_result.c_str());
-        CONSOLE_BRIDGE_logWarn("%s", merged);
-        delete[] merged;
-        return "[SAM]: CreateSession failed.";
+        std::string error_msg = "[SAM]: Failed to create session: " + std::string(e.what());
+        CONSOLE_BRIDGE_logWarn("%s", error_msg.c_str());
+        throw std::runtime_error(error_msg);
     }
 }
 

src/utils.cpp

@@ -1,5 +1,7 @@
 #include "sam_onnx_ros/utils.hpp"
 
+#include <console_bridge/console.h>
+
 // #define LOGGING
 
 // Constructor
@@ -129,7 +131,7 @@ void Utils::PostProcess(std::vector<Ort::Value>& output_tensors, const cv::Mat&
 {
     if (output_tensors.empty())
     {
-        std::cerr << "[SAM]: Decoder returned no outputs." << std::endl;
+        CONSOLE_BRIDGE_logError("[SAM]: Decoder returned no outputs.");
         return;
     }
 
@@ -145,7 +147,7 @@ void Utils::PostProcess(std::vector<Ort::Value>& output_tensors, const cv::Mat&
 
     if (masksIdx < 0)
     {
-        std::cerr << "[SAM]: No 4D mask tensor found in decoder outputs." << std::endl;
+        CONSOLE_BRIDGE_logError("[SAM]: No 4D mask tensor found in decoder outputs.");
         return;
     }
 
@@ -241,6 +243,6 @@ void Utils::PostProcess(std::vector<Ort::Value>& output_tensors, const cv::Mat&
     }
     else
     {
-        std::cerr << "[SAM]: Unexpected mask tensor shape." << std::endl;
+        CONSOLE_BRIDGE_logError("[SAM]: Unexpected mask tensor shape.");
     }
 }

test/sam_test.cpp

@@ -71,8 +71,8 @@ TEST_F(SamInferenceTest, CreateSessionWithValidModel)
 TEST_F(SamInferenceTest, CreateSessionWithInvalidModel)
 {
     params_encoder.modelPath = "nonexistent_model.onnx";
-    const char* result = samSegmentors[0]->CreateSession(params_encoder);
-    EXPECT_NE(result, nullptr) << "CreateSession should fail with invalid model path";
+    EXPECT_THROW(samSegmentors[0]->CreateSession(params_encoder), std::runtime_error)
+        << "CreateSession should throw an exception with invalid model path";
 }
 
 // End-to-end check: with both encoder/decoder models present, the pipeline runs