After importing your  shapefile in GRASS 7 (True topology, it detects and
eliminate the defective polygon)

before
> cam@data$id = rownames(cam@data)
> cam.points = fortify(cam, region="id")
Error: IllegalArgumentException: Invalid number of points in LinearRing
found 3 - must be 0 or >= 4

after
 
> cam@data$id = rownames(cam@data)
> cam.points = fortify(cam, region="id")




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