impl: StrFormat and StrSplit

common/traits.h

@@ -0,0 +1,11 @@
+// Type traits and TMP facilities.
+// Author: Xiaohan Fei ([email protected])
+#include <type_traits>
+
+namespace xivo {
+// type traits utilities
+template <class T>
+using plain = typename std::remove_cv<typename std::remove_reference<T>::type>::type;
+
+} // namespace xivo
+

common/utils.cpp

@@ -5,7 +5,6 @@
 // stl
 #include <iostream>
 // I/O
-#include "absl/strings/str_format.h"
 #include "json/json.h"
 
 #include "utils.h"
@@ -110,7 +109,7 @@ Json::Value LoadJson(const std::string &filename) {
     return out;
   } else {
     throw std::runtime_error(
-        absl::StrFormat("failed to read file %s", filename));
+        StrFormat("failed to read file %s", filename));
   }
 }
 
@@ -130,4 +129,17 @@ void SaveJson(const Json::Value &value, const std::string &filename) {
   out.close();
 }
 
+std::vector<std::string> StrSplit(const std::string &str, char delimiter) {
+  std::vector<std::string> splits;
+  size_t curr = 0;
+  size_t next = str.find(delimiter, curr);
+  while (next != std::string::npos) {
+    splits.push_back(str.substr(curr, next - curr));
+    curr = next + 1;
+    next = str.find(delimiter, curr);
+  }
+  splits.push_back(str.substr(curr));
+  return std::move(splits);
+}
+
 } // namespace xivo

common/utils.h

@@ -2,6 +2,7 @@
 // Author: Xiaohan Fei ([email protected])
 #pragma once
 #include "alias.h"
+#include "traits.h"
 
 // stl
 #include <chrono>
@@ -274,4 +275,37 @@ void WriteMatrixToFile(const std::string &filename,
   ostream.close();
 }
 
+namespace impl {
+
+// implementation details
+template <typename T>
+std::enable_if_t<std::is_same<plain<T>, std::string>::value, const char*>
+StrArgPass(T &arg) {
+  // std::cout << __PRETTY_FUNCTION__ << std::endl;
+  return arg.c_str();
+}
+
+template <typename T>
+std::enable_if_t<!std::is_same<plain<T>, std::string>::value, T>
+StrArgPass(T&& arg) {
+  // std::cout << __PRETTY_FUNCTION__ << std::endl;
+  return arg;
+}
+
+} // namespace impl
+
+
+constexpr int kStrBufSize = 512;
+template <typename... Args>
+std::string StrFormat(const char *format, Args... args) {
+  char buf[kStrBufSize];
+  if (snprintf(&buf[0], kStrBufSize, format, impl::StrArgPass(args)...) < 0) {
+    LOG(FATAL) << "failed to format string!!!";
+  }
+  return buf;
+}
+
+std::vector<std::string> StrSplit(const std::string &str, char delimiter);
+
+
 } // namespace xivo

src/app/legacy/evaluate.cpp

@@ -3,7 +3,6 @@
 #include <memory>
 #include <tuple>
 
-#include "absl/strings/str_format.h"
 #include "gflags/gflags.h"
 #include "glog/logging.h"
 
@@ -73,8 +72,8 @@ int main(int argc, char **argv) {
       ComputeRPE(traj_est, traj_gt, FLAGS_RPE_interval, FLAGS_resolution);
   LOG(INFO) << "RPE computed";
 
-  std::cout << absl::StreamFormat("ATE=%0.4f meters\n", ate);
-  std::cout << absl::StreamFormat(
+  std::cout << StreamFormat("ATE=%0.4f meters\n", ate);
+  std::cout << StreamFormat(
       "RPE @ %0.4f ms=[%0.4f meters, %0.4f degrees]\n",
       1000.0 * FLAGS_RPE_interval, rpe_pos, rpe_rot / M_PI * 180);
 
@@ -86,7 +85,7 @@ int main(int argc, char **argv) {
   ;
   for (auto msg : traj_est) {
     auto aligned_g = g_est_gt.inv() * msg.g_;
-    ostream << absl::StrFormat("%ld", msg.ts_) << " "
+    ostream << StrFormat("%ld", msg.ts_) << " "
             << aligned_g.T().transpose() << " "
             << aligned_g.R().log().transpose() << std::endl;
   }

src/app/legacy/vio.cpp

@@ -3,8 +3,6 @@
 #include "unistd.h"
 #include <algorithm>
 
-#include "absl/strings/str_format.h"
-#include "absl/strings/str_join.h"
 #include "gflags/gflags.h"
 #include "glog/logging.h"
 #include "opencv2/highgui/highgui.hpp"
@@ -86,7 +84,7 @@ int main(int argc, char **argv) {
     ////////////////////////////////////////
     if (verbose) {
       est_proc->Wait();
-      std::cout << absl::StrFormat("%ld", est_proc->ts().count()) << " "
+      std::cout << StrFormat("%ld", est_proc->ts().count()) << " "
         << est_proc->gsb().translation().transpose() << std::endl;
     }
   }

src/app/vio.cpp

@@ -2,8 +2,6 @@
 #include "unistd.h"
 #include <algorithm>
 
-#include "absl/strings/str_format.h"
-#include "absl/strings/str_join.h"
 #include "gflags/gflags.h"
 #include "glog/logging.h"
 #include "opencv2/highgui/highgui.hpp"
@@ -90,7 +88,7 @@ int main(int argc, char **argv) {
       }
 
       traj_est.emplace_back(est->ts(), est->gsb());
-      ostream << absl::StrFormat("%ld", est->ts().count()) << " "
+      ostream << StrFormat("%ld", est->ts().count()) << " "
         << est->gsb().translation().transpose() << " "
         << est->gsb().rotation().log().transpose() << std::endl;
 

src/core.h

@@ -213,8 +213,4 @@ struct Observation {
 
 using Obs = Observation;
 
-// type traits utilities
-template <class T>
-using plain = typename std::remove_cv<typename std::remove_reference<T>::type>::type;
-
 } // namespace xivo

src/estimator.cpp

@@ -4,7 +4,6 @@
 #include <tuple>
 
 #include "Eigen/QR"
-#include "absl/strings/str_format.h"
 #include "glog/logging.h"
 
 #include "estimator.h"
@@ -615,7 +614,7 @@ bool Estimator::GoodTimestamp(const timestamp_t &now) {
   auto curr_ms =
       std::chrono::duration_cast<std::chrono::milliseconds>(curr_time_);
   if (now_ms < curr_ms) {
-    LOG(WARNING) << absl::StrFormat("now=%ld ms < curr=%ld ms", now_ms.count(),
+    LOG(WARNING) << StrFormat("now=%ld ms < curr=%ld ms", now_ms.count(),
                                     curr_ms.count());
     return false;
   } else {
@@ -722,7 +721,7 @@ void Estimator::AddGroupToState(GroupPtr g) {
     P_.block(0, offset + 3, err_.size(), 3) =
         P_.block(0, Index::Tsb, err_.size(), 3);
 
-    VLOG(0) << absl::StrFormat("group #%d inserted @ %d/%d", g->id(), index,
+    VLOG(0) << StrFormat("group #%d inserted @ %d/%d", g->id(), index,
                                kMaxGroup);
   } else {
     throw std::runtime_error("Failed to find slot in state for group.");
@@ -761,15 +760,15 @@ void Estimator::AddFeatureToState(FeaturePtr f) {
     P_.block<1, 2>(offset + 2, offset) *= damping;
     P_(offset + 2, offset + 2) *= (damping * damping);
 
-    VLOG(0) << absl::StrFormat("feature #%d inserted @ %d/%d", f->id(), index,
+    VLOG(0) << StrFormat("feature #%d inserted @ %d/%d", f->id(), index,
                                kMaxFeature);
   } else {
     throw std::runtime_error("Failed to find slot in state for feature.");
   }
 }
 
 void Estimator::PrintErrorStateNorm() {
-  VLOG(0) << absl::StrFormat(
+  VLOG(0) << StrFormat(
       "|Wsb|=%0.8f, |Tsb|=%0.8f, |Vsb|=%0.8f, "
       "|bg|=%0.8f, |ba|=%0.8f, |Wbc|=%0.8f, |Tbc|=%0.8f, |Wg|=%0.8f\n",
       err_.segment<3>(Index::Wsb).norm(), err_.segment<3>(Index::Tsb).norm(),
@@ -780,7 +779,7 @@ void Estimator::PrintErrorStateNorm() {
 #ifndef NDEBUG
     CHECK(gsel_[g->sind()]) << "instate group not actually instate";
 #endif
-    VLOG(0) << absl::StrFormat(
+    VLOG(0) << StrFormat(
         "g#%d |W|=%0.8f, |T|=%0.8f\n", g->id(),
         err_.segment<3>(kGroupBegin + 6 * g->sind()).norm(),
         err_.segment<3>(kGroupBegin + 6 * g->sind() + 3).norm());
@@ -789,7 +788,7 @@ void Estimator::PrintErrorStateNorm() {
 #ifndef NDEBUG
     CHECK(fsel_[f->sind()]) << "instate feature not yet instate";
 #endif
-    VLOG(0) << absl::StrFormat(
+    VLOG(0) << StrFormat(
         "f#%d |X|=%0.8f\n", f->id(),
         err_.segment<3>(kFeatureBegin + 3 * f->sind()).norm());
   }

src/estimator_process.cpp

@@ -1,7 +1,6 @@
 // 3rdparty
 #include "opencv2/highgui/highgui.hpp"
 // xivo
-#include "absl/strings/str_format.h"
 #include "estimator_process.h"
 #include "tracker.h"
 #include "visualize.h"

src/feature.cpp

@@ -7,7 +7,6 @@
 #include "mm.h"
 #include "param.h"
 
-#include "absl/strings/str_format.h"
 #include "glog/logging.h"
 
 namespace xivo {
@@ -262,7 +261,7 @@ bool Feature::RefineDepth(const SE3 &gbc,
       break;
     }
 
-    VLOG_IF(0, iter > 0) << absl::StrFormat("iter=%d; |res|:%0.4f->%0.4f", iter,
+    VLOG_IF(0, iter > 0) << StrFormat("iter=%d; |res|:%0.4f->%0.4f", iter,
                                             res_norm0, res_norm);
 
     // Vec3 delta = H.ldlt().solve(b);
@@ -278,7 +277,7 @@ bool Feature::RefineDepth(const SE3 &gbc,
   }
 
   if (res_norm0 > options.max_res_norm) {
-    VLOG(0) << absl::StrFormat("feature #%d; status=%d; |res|=%f\n", id_,
+    VLOG(0) << StrFormat("feature #%d; status=%d; |res|=%f\n", id_,
                                as_integer(status_), res_norm0);
     return false;
   } 

src/helpers.cpp

@@ -4,7 +4,6 @@
 #include <iostream>
 #include <memory>
 
-#include "absl/strings/str_format.h"
 #include "glog/logging.h"
 
 namespace xivo {

src/loader.cpp

@@ -4,8 +4,6 @@
 #include <iostream>
 #include <sstream>
 
-#include "absl/strings/str_format.h"
-#include "absl/strings/str_split.h"
 #include "glog/logging.h"
 
 #include "message_types.h"
@@ -23,7 +21,7 @@ DataLoader::DataLoader(const std::string &image_dir,
     std::getline(is, line); // get rid of the header
     while (is >> line) {
       if (line.front() != '#') {
-        std::vector<std::string> content = absl::StrSplit(line, ',');
+        std::vector<std::string> content = StrSplit(line, ',');
         auto ts{timestamp_t(std::stoll(content[0]))};
         std::string image_path = image_dir + "/data/" + content[1];
         entries_.emplace_back(std::make_unique<msg::Image>(ts, image_path));
@@ -40,7 +38,7 @@ DataLoader::DataLoader(const std::string &image_dir,
     std::getline(is, line); // get rid of the header
     while (is >> line) {
       if (line.front() != '#') {
-        std::vector<std::string> content = absl::StrSplit(line, ',');
+        std::vector<std::string> content = StrSplit(line, ',');
         auto ts{timestamp_t(std::stoll(content[0]))};
         Vec3 gyro;
         Vec3 accel;
@@ -68,7 +66,7 @@ DataLoader::LoadGroundTruthState(const std::string &state_dir) {
     std::getline(is, line); // get rid of the header
     while (is >> line) {
       if (line.front() != '#') {
-        std::vector<std::string> content = absl::StrSplit(line, ',');
+        std::vector<std::string> content = StrSplit(line, ',');
         auto ts{timestamp_t(std::stoull(content[0]))};
         // pose frame -> world frame
         Vec3 T;
@@ -85,7 +83,7 @@ DataLoader::LoadGroundTruthState(const std::string &state_dir) {
         poses_.emplace_back(ts, gsb);
       }
     }
-    LOG(INFO) << absl::StreamFormat("%d ground truth poses in total loaded",
+    LOG(INFO) << StrFormat("%d ground truth poses in total loaded",
                                     poses_.size());
   } else {
     LOG(FATAL) << "failed to load ground-truth state csv @ " << state_data;
@@ -102,23 +100,23 @@ GetDirs(const std::string dataset, const std::string root,
 
   if (dataset_type == "tumvi") {
     std::string image_dir =
-        absl::StrFormat("%s/dataset-%s_512_16/mav0/cam%d/", root, seq, cam_id);
+        StrFormat("%s/dataset-%s_512_16/mav0/cam%d/", root, seq, cam_id);
     std::string imu_dir =
-        absl::StrFormat("%s/dataset-%s_512_16/mav0/imu0/", root, seq);
+        StrFormat("%s/dataset-%s_512_16/mav0/imu0/", root, seq);
     std::string mocap_dir =
-        absl::StrFormat("%s/dataset-%s_512_16/mav0/mocap0/", root, seq);
+        StrFormat("%s/dataset-%s_512_16/mav0/mocap0/", root, seq);
     return std::make_tuple(image_dir, imu_dir, mocap_dir);
   } else if (dataset_type == "euroc") {
     std::string image_dir =
-        absl::StrFormat("%s/%s/mav0/cam%d/", root, seq, cam_id);
-    std::string imu_dir = absl::StrFormat("%s/%s/mav0/imu0/", root, seq);
+        StrFormat("%s/%s/mav0/cam%d/", root, seq, cam_id);
+    std::string imu_dir = StrFormat("%s/%s/mav0/imu0/", root, seq);
     std::string mocap_dir =
-        absl::StrFormat("%s/%s/mav0/state_groundtruth_estimate0/", root, seq);
+        StrFormat("%s/%s/mav0/state_groundtruth_estimate0/", root, seq);
     return std::make_tuple(image_dir, imu_dir, mocap_dir);
   } else if (dataset_type == "xivo") {
     std::string image_dir =
-        absl::StrFormat("%s/%s/cam0/", root, seq);
-    std::string imu_dir = absl::StrFormat("%s/%s/imu0/", root, seq);
+        StrFormat("%s/%s/cam0/", root, seq);
+    std::string imu_dir = StrFormat("%s/%s/imu0/", root, seq);
     std::string mocap_dir = "";
     return std::make_tuple(image_dir, imu_dir, mocap_dir);
   } else {

src/manager.cpp

@@ -3,7 +3,6 @@
 #include <iostream>
 #include <unordered_set>
 
-#include "absl/strings/str_format.h"
 #include "glog/logging.h"
 
 #include "estimator.h"

src/mm.cpp

@@ -3,7 +3,6 @@
 #include "feature.h"
 #include "group.h"
 
-#include "absl/strings/str_format.h"
 #include "glog/logging.h"
 
 namespace xivo {
@@ -14,7 +13,7 @@ MemoryManagerPtr MemoryManager::Create(int max_features, int max_groups) {
   if (!instance_) {
     instance_ = std::unique_ptr<MemoryManager>(
         new MemoryManager(max_features, max_groups));
-    LOG(INFO) << absl::StrFormat(
+    LOG(INFO) << StrFormat(
         "MemoryManager instance created with %d features and %d groups",
         max_features, max_groups);
   } else {

src/tracker.cpp

@@ -3,8 +3,6 @@
 // Author: Xiaohan Fei ([email protected])
 #include <fstream>
 
-#include "absl/strings/str_format.h"
-#include "absl/strings/str_join.h"
 #include "glog/logging.h"
 #include "opencv2/video/video.hpp"
 #include "opencv2/xfeatures2d.hpp"

src/update.cpp

@@ -5,7 +5,6 @@
 #include <iostream>
 #include <unordered_set>
 
-#include "absl/strings/str_format.h"
 #include "glog/logging.h"
 
 #ifdef USE_GPERFTOOLS
@@ -252,7 +251,7 @@ Estimator::OnePointRANSAC(const std::vector<FeaturePtr> &mh_inliers) {
       g->RestoreState();
     }
   }
-  auto str = absl::StrFormat("#hyp tested=%d: li_inliers/mh_inliers=%d/%d",
+  auto str = StrFormat("#hyp tested=%d: li_inliers/mh_inliers=%d/%d",
                              n_hyp, max_inliers.size(), mh_inliers.size());
 
   LOG(INFO) << str;