adding fmt dependency (#216)

.appveyor.yml

@@ -0,0 +1,36 @@
+branches:
+  only:
+    - master
+    - dev
+
+os: Visual Studio 2017
+
+clone_folder: c:\projects\sophus
+
+platform: x64
+configuration: Debug
+
+build:
+  project: c:\projects\sophus\build\Sophus.sln
+
+install:
+  - ps: wget http://bitbucket.org/eigen/eigen/get/3.3.4.zip -outfile eigen3.zip
+  - cmd: 7z x eigen3.zip -o"C:\projects" -y > nul
+  - git clone https://github.com/fmtlib/fmt.git
+  - cd fmt
+  - git checkout 5.3.0
+  - mkdir build
+  - cd build
+  - cmake -DCMAKE_BUILD_TYPE=Debug -G "Visual Studio 15 2017 Win64" ..
+  - cmake --build .
+  - cmake --build . --target install
+  - cd ../..
+
+before_build:
+  - cd c:\projects\sophus
+  - mkdir build
+  - cd build
+  - cmake -DCMAKE_BUILD_TYPE=Debug -G "Visual Studio 15 2017 Win64" -D EIGEN3_INCLUDE_DIR=C:\projects\eigen-eigen-5a0156e40feb ..
+
+after_build:
+  - ctest

.travis.yml

@@ -81,3 +81,4 @@ deploy:
 branches:
   only:
     - master
+    - dev

CMakeLists.txt

@@ -10,7 +10,7 @@ if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
 
-set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD 14)
 
 # Set compiler specific settings (FixMe: Should not cmake do this for us automatically?)
 IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
@@ -20,7 +20,7 @@ IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
 ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
    SET(CMAKE_CXX_FLAGS_DEBUG  "-O0 -g")
    SET(CMAKE_CXX_FLAGS_RELEASE "-O3")
-   SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra -std=c++11 -Wno-deprecated-declarations -ftemplate-backtrace-limit=0")
+   SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra -std=c++14 -Wno-deprecated-declarations -ftemplate-backtrace-limit=0")
    SET(CMAKE_CXX_FLAGS_COVERAGE "${CMAKE_CXX_FLAGS_DEBUG} --coverage -fno-inline -fno-inline-small-functions -fno-default-inline")
    SET(CMAKE_EXE_LINKER_FLAGS_COVERAGE "${CMAKE_EXE_LINKER_FLAGS_DEBUG} --coverage")
    SET(CMAKE_SHARED_LINKER_FLAGS_COVERAGE "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} --coverage")
@@ -34,6 +34,8 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules")
 # Find Eigen 3 (dependency)
 find_package(Eigen3 3.3.0 REQUIRED)
 
+find_package(fmt REQUIRED)
+
 # Define interface library target
 add_library(sophus INTERFACE)
 
@@ -70,7 +72,7 @@ endif (MSVC)
 
 # Add Eigen interface dependency, depending on available cmake info
 if(TARGET Eigen3::Eigen)
-  target_link_libraries(sophus INTERFACE Eigen3::Eigen)
+  target_link_libraries(sophus INTERFACE Eigen3::Eigen fmt::fmt)
   set(Eigen3_DEPENDENCY "find_dependency (Eigen3 ${Eigen3_VERSION})")
 else(TARGET Eigen3::Eigen)
   target_include_directories (sophus SYSTEM INTERFACE ${EIGEN3_INCLUDE_DIR})
@@ -82,7 +84,7 @@ target_include_directories(sophus INTERFACE
     "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>"
 )
 
-# Declare all used C++11 features
+# Declare all used C++14 features
 target_compile_features (sophus INTERFACE
   cxx_auto_type
   cxx_decltype

README.rst

@@ -25,7 +25,7 @@ the ones which are used in the Continuous Integration (CI): See TravisCI_ and
 AppVeyor_ for details.
 
 However, it should work (with no to minor modification) on many other
-modern configurations as long they support c++11, CMake, and Eigen 3.X.
+modern configurations as long they support c++14, CMake, Eigen 3.X and fmt.
 
 .. |TravisCI| image:: https://travis-ci.org/strasdat/Sophus.svg?branch=master
 .. _TravisCI: https://travis-ci.org/strasdat/Sophus

scripts/install_linux_deps.sh

@@ -13,6 +13,8 @@ mkdir build-eigen
 cd build-eigen
 cmake ../eigen-eigen-5a0156e40feb -DEIGEN_DEFAULT_TO_ROW_MAJOR=$ROW_MAJOR_DEFAULT
 sudo make install
+cd ..
+
 git clone https://ceres-solver.googlesource.com/ceres-solver ceres-solver
 cd ceres-solver
 git reset --hard afe93546b67cee0ad205fe8044325646ed5deea9
@@ -23,3 +25,14 @@ ccache -s
 cmake -DCXX11=On -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DOPENMP=Off ..
 make -j3
 sudo make install
+cd ../..
+
+git clone https://github.com/fmtlib/fmt.git
+cd fmt
+git checkout 5.3.0
+mkdir build
+cd build
+cmake ..
+make -j3
+sudo make install
+cd ../..

scripts/install_osx_deps.sh

@@ -7,6 +7,7 @@ brew install eigen
 brew install glog
 brew install suite-sparse
 brew install ccache
+brew install fmt
 export PATH="/usr/local/opt/ccache/libexec:$PATH"
 whereis ccache
 git clone https://ceres-solver.googlesource.com/ceres-solver ceres-solver

sophus/common.hpp

@@ -13,6 +13,11 @@
 
 #include <Eigen/Core>
 
+#define FMT_STRING_ALIAS 1
+#include <fmt/core.h>
+#include <fmt/format.h>
+#include <fmt/ostream.h>
+
 // following boost's assert.hpp
 #undef SOPHUS_ENSURE
 
@@ -36,68 +41,6 @@
 
 #define SOPHUS_FUNC EIGEN_DEVICE_FUNC
 
-namespace Sophus {
-namespace details {
-
-// Following: http://stackoverflow.com/a/22759544
-template <class T>
-class IsStreamable {
- private:
-  template <class TT>
-  static auto test(int)
-      -> decltype(std::declval<std::stringstream&>() << std::declval<TT>(),
-                  std::true_type());
-
-  template <class>
-  static auto test(...) -> std::false_type;
-
- public:
-  static bool const value = decltype(test<T>(0))::value;
-};
-
-template <class T>
-class ArgToStream {
- public:
-  static void impl(std::stringstream& stream, T&& arg) {
-    stream << std::forward<T>(arg);
-  }
-};
-
-inline void FormatStream(std::stringstream& stream, char const* text) {
-  stream << text;
-  return;
-}
-
-// Following: http://en.cppreference.com/w/cpp/language/parameter_pack
-template <class T, typename... Args>
-void FormatStream(std::stringstream& stream, char const* text, T&& arg,
-                  Args&&... args) {
-  static_assert(IsStreamable<T>::value,
-                "One of the args has no ostream overload!");
-  for (; *text != '\0'; ++text) {
-    if (*text == '%') {
-      ArgToStream<T&&>::impl(stream, std::forward<T>(arg));
-      FormatStream(stream, text + 1, std::forward<Args>(args)...);
-      return;
-    }
-    stream << *text;
-  }
-  stream << "\nFormat-Warning: There are " << sizeof...(Args) + 1
-         << " args unused.";
-  return;
-}
-
-template <class... Args>
-std::string FormatString(char const* text, Args&&... args) {
-  std::stringstream stream;
-  FormatStream(stream, text, std::forward<Args>(args)...);
-  return stream.str();
-}
-
-inline std::string FormatString() { return std::string(); }
-}  // namespace details
-}  // namespace Sophus
-
 #if defined(SOPHUS_DISABLE_ENSURES)
 
 #define SOPHUS_ENSURE(expr, ...) ((void)0)
@@ -109,35 +52,20 @@ void ensureFailed(char const* function, char const* file, int line,
                   char const* description);
 }
 
-#define SOPHUS_ENSURE(expr, ...)                     \
-  ((expr) ? ((void)0)                                \
-          : ::Sophus::ensureFailed(                  \
-                SOPHUS_FUNCTION, __FILE__, __LINE__, \
-                Sophus::details::FormatString(__VA_ARGS__).c_str()))
+#define SOPHUS_ENSURE(expr, desc, ...)                               \
+  ((expr)                                                            \
+       ? ((void)0)                                                   \
+       : ::Sophus::ensureFailed(SOPHUS_FUNCTION, __FILE__, __LINE__, \
+                                fmt::format(fmt(desc), __VA_ARGS__).c_str()))
 #else
-// LCOV_EXCL_START
-
-namespace Sophus {
-template <class... Args>
-SOPHUS_FUNC void defaultEnsure(char const* function, char const* file, int line,
-                               char const* description, Args&&... args) {
-  std::printf("Sophus ensure failed in function '%s', file '%s', line %d.\n",
-              function, file, line);
-#ifdef __CUDACC__
-  std::printf("%s", description);
-#else
-  std::cout << details::FormatString(description, std::forward<Args>(args)...)
-            << std::endl;
-  std::abort();
-#endif
-}
-}  // namespace Sophus
-
-// LCOV_EXCL_STOP
-#define SOPHUS_ENSURE(expr, ...)                                       \
-  ((expr) ? ((void)0)                                                  \
-          : Sophus::defaultEnsure(SOPHUS_FUNCTION, __FILE__, __LINE__, \
-                                  ##__VA_ARGS__))
+#define SOPHUS_ENSURE(expr, desc, ...)                                     \
+  if (!(expr)) {                                                           \
+    std::printf(                                                           \
+        "Sophus assertion failed in function '%s', file '%s', line %d.\n", \
+        SOPHUS_FUNCTION, __FILE__, __LINE__);                              \
+    std::cout << fmt::format(fmt(desc), ##__VA_ARGS__) << std::endl;       \
+    std::abort();                                                          \
+  }
 #endif
 
 namespace Sophus {

sophus/geometry.hpp

@@ -27,7 +27,7 @@ Vector2<T> normalFromSO2(SO2<T> const& R_foo_line) {
 ///
 template <class T>
 SO2<T> SO2FromNormal(Vector2<T> normal_foo) {
-  SOPHUS_ENSURE(normal_foo.squaredNorm() > Constants<T>::epsilon(), "%",
+  SOPHUS_ENSURE(normal_foo.squaredNorm() > Constants<T>::epsilon(), "{}",
                 normal_foo.transpose());
   normal_foo.normalize();
   return SO2<T>(normal_foo.y(), -normal_foo.x());
@@ -61,18 +61,18 @@ Matrix3<T> rotationFromNormal(Vector3<T> const& normal_foo,
                               Vector3<T> yDirHint_foo = Vector3<T>(T(0), T(1),
                                                                    T(0))) {
   SOPHUS_ENSURE(xDirHint_foo.dot(yDirHint_foo) < Constants<T>::epsilon(),
-                "xDirHint (%) and yDirHint (%) must be perpendicular.",
+                "xDirHint ({}) and yDirHint ({}) must be perpendicular.",
                 xDirHint_foo.transpose(), yDirHint_foo.transpose());
   using std::abs;
   using std::sqrt;
   T const xDirHint_foo_sqr_length = xDirHint_foo.squaredNorm();
   T const yDirHint_foo_sqr_length = yDirHint_foo.squaredNorm();
   T const normal_foo_sqr_length = normal_foo.squaredNorm();
-  SOPHUS_ENSURE(xDirHint_foo_sqr_length > Constants<T>::epsilon(), "%",
+  SOPHUS_ENSURE(xDirHint_foo_sqr_length > Constants<T>::epsilon(), "{}",
                 xDirHint_foo.transpose());
-  SOPHUS_ENSURE(yDirHint_foo_sqr_length > Constants<T>::epsilon(), "%",
+  SOPHUS_ENSURE(yDirHint_foo_sqr_length > Constants<T>::epsilon(), "{}",
                 yDirHint_foo.transpose());
-  SOPHUS_ENSURE(normal_foo_sqr_length > Constants<T>::epsilon(), "%",
+  SOPHUS_ENSURE(normal_foo_sqr_length > Constants<T>::epsilon(), "{}",
                 normal_foo.transpose());
 
   Matrix3<T> basis_foo;
@@ -102,7 +102,7 @@ Matrix3<T> rotationFromNormal(Vector3<T> const& normal_foo,
   T det = basis_foo.determinant();
   // sanity check
   SOPHUS_ENSURE(abs(det - T(1)) < Constants<T>::epsilon(),
-                "Determinant of basis is not 1, but %. Basis is \n%\n", det,
+                "Determinant of basis is not 1, but {}. Basis is \n{}\n", det,
                 basis_foo);
   return basis_foo;
 }

sophus/interpolate.hpp

@@ -29,7 +29,7 @@ enable_if_t<interp_details::Traits<G>::supported, G> interpolate(
   using Scalar = typename G::Scalar;
   Scalar inter_p(p);
   SOPHUS_ENSURE(inter_p >= Scalar(0) && inter_p <= Scalar(1),
-                "p (%) must in [0, 1].");
+                "p ({}) must in [0, 1].", inter_p);
   return foo_T_bar * G::exp(inter_p * (foo_T_bar.inverse() * foo_T_baz).log());
 }
 

sophus/rxso2.hpp

@@ -346,7 +346,7 @@ class RxSO2Base {
   ///
   SOPHUS_FUNC void setScaledRotationMatrix(Transformation const& sR) {
     SOPHUS_ENSURE(isScaledOrthogonalAndPositive(sR),
-                  "sR must be scaled orthogonal:\n %", sR);
+                  "sR must be scaled orthogonal:\n {}", sR);
     complex_nonconst() = sR.col(0);
   }
 
@@ -433,7 +433,7 @@ class RxSO2 : public RxSO2Base<RxSO2<Scalar_, Options>> {
   SOPHUS_FUNC explicit RxSO2(Vector2<Scalar> const& z) : complex_(z) {
     SOPHUS_ENSURE(complex_.squaredNorm() >= Constants<Scalar>::epsilon() *
                                                 Constants<Scalar>::epsilon(),
-                  "Scale factor must be greater-equal epsilon: % vs %",
+                  "Scale factor must be greater-equal epsilon: {} vs {}",
                   complex_.squaredNorm(),
                   Constants<Scalar>::epsilon() * Constants<Scalar>::epsilon());
   }

sophus/se2.hpp

@@ -317,8 +317,8 @@ class SE2Base {
   /// Precondition: ``R`` must be orthogonal and ``det(R)=1``.
   ///
   SOPHUS_FUNC void setRotationMatrix(Matrix<Scalar, 2, 2> const& R) {
-    SOPHUS_ENSURE(isOrthogonal(R), "R is not orthogonal:\n %", R);
-    SOPHUS_ENSURE(R.determinant() > Scalar(0), "det(R) is not positive: %",
+    SOPHUS_ENSURE(isOrthogonal(R), "R is not orthogonal:\n {}", R);
+    SOPHUS_ENSURE(R.determinant() > Scalar(0), "det(R) is not positive: {}",
                   R.determinant());
     typename SO2Type::ComplexT const complex(Scalar(0.5) * (R(0, 0) + R(1, 1)),
                                              Scalar(0.5) * (R(1, 0) - R(0, 1)));
@@ -713,7 +713,7 @@ class SE2 : public SE2Base<SE2<Scalar_, Options>> {
   SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
     SOPHUS_ENSURE(
         Omega.row(2).template lpNorm<1>() < Constants<Scalar>::epsilon(),
-        "Omega: \n%", Omega);
+        "Omega: \n{}", Omega);
     Tangent upsilon_omega;
     upsilon_omega.template head<2>() = Omega.col(2).template head<2>();
     upsilon_omega[2] = SO2<Scalar>::vee(Omega.template topLeftCorner<2, 2>());

sophus/se3.hpp

@@ -389,8 +389,8 @@ class SE3Base {
   /// Precondition: ``R`` must be orthogonal and ``det(R)=1``.
   ///
   SOPHUS_FUNC void setRotationMatrix(Matrix3<Scalar> const& R) {
-    SOPHUS_ENSURE(isOrthogonal(R), "R is not orthogonal:\n %", R);
-    SOPHUS_ENSURE(R.determinant() > Scalar(0), "det(R) is not positive: %",
+    SOPHUS_ENSURE(isOrthogonal(R), "R is not orthogonal:\n {}", R);
+    SOPHUS_ENSURE(R.determinant() > Scalar(0), "det(R) is not positive: {}",
                   R.determinant());
     so3().setQuaternion(Eigen::Quaternion<Scalar>(R));
   }
@@ -502,7 +502,7 @@ class SE3 : public SE3Base<SE3<Scalar_, Options>> {
     SOPHUS_ENSURE((T.row(3) - Matrix<Scalar, 1, 4>(Scalar(0), Scalar(0),
                                                    Scalar(0), Scalar(1)))
                           .squaredNorm() < Constants<Scalar>::epsilon(),
-                  "Last row is not (0,0,0,1), but (%).", T.row(3));
+                  "Last row is not (0,0,0,1), but ({}).", T.row(3));
   }
 
   /// This provides unsafe read/write access to internal data. SO(3) is