precomit and format

.github/ISSUE_TEMPLATE/bug_report.md

@@ -14,8 +14,8 @@ assignees: ''
 **To Reproduce**
 [Steps to reproduce the behavior:]
 1.
-2. 
-3. 
+2.
+3.
 
 **Expected behavior**
 [A clear and concise description of what you expected to happen.]

.github/workflows/format.yml

@@ -0,0 +1,22 @@
+name: format
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  pre-commit-check:
+      runs-on: ubuntu-latest
+      steps:
+        - name: Checkout workspace
+          uses: actions/checkout@v3
+        - name: Install pre-commit and install
+          run: |
+            pip install pre-commit
+            pre-commit install
+        - name: Run pre-commit checks
+          run: pre-commit run --all-files

.gitignore

@@ -1,4 +1,4 @@
 build
 CMakeLists.txt.user
 *.pyc
-.vscode/settings.json
+.vscode/settings.json

.pre-commit-config.yaml

@@ -12,6 +12,7 @@ repos:
     rev: v14.0.0
     hooks:
       - id: clang-format
+        exclude: (sympy/.*)
         types_or: [file]
         files: .*(\.h|\.cpp|\.h\.glsl|\.proto)$
   - repo: https://github.com/pre-commit/mirrors-prettier
@@ -23,4 +24,5 @@ repos:
     rev: v0.6.10
     hooks:
       - id: cmake-format
-      - id: cmake-lint
+      # lint does not pass
+      #- id: cmake-lint

CMakeLists.txt

@@ -4,44 +4,48 @@ project(Sophus VERSION 1.24.06)
 include(CMakePackageConfigHelpers)
 include(GNUInstallDirs)
 
-# Determine if sophus is built as a subproject (using add_subdirectory)
-# or if it is the master project.
-if (NOT DEFINED SOPHUS_MASTER_PROJECT)
+# Determine if sophus is built as a subproject (using add_subdirectory) or if it
+# is the master project.
+if(NOT DEFINED SOPHUS_MASTER_PROJECT)
   set(SOPHUS_MASTER_PROJECT OFF)
-  if (CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR)
+  if(CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR)
     set(SOPHUS_MASTER_PROJECT ON)
     message(STATUS "CMake version: ${CMAKE_VERSION}")
-  endif ()
-endif ()
+  endif()
+endif()
 
 option(SOPHUS_INSTALL "Generate the install target." ${SOPHUS_MASTER_PROJECT})
 
 if(SOPHUS_MASTER_PROJECT)
-  # Release by default
-  # Turn on Debug with "-DCMAKE_BUILD_TYPE=Debug"
+  # Release by default Turn on Debug with "-DCMAKE_BUILD_TYPE=Debug"
   if(NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE RelWithDebInfo)
   endif()
 
   set(CMAKE_CXX_STANDARD 17)
 
-  # Set compiler specific settings (FixMe: Should not cmake do this for us automatically?)
-  IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
-    SET(CMAKE_CXX_FLAGS_DEBUG  "-O0 -g")
-    SET(CMAKE_CXX_FLAGS_RELEASE "-O3")
-    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra  -Wno-deprecated-register -Qunused-arguments -fcolor-diagnostics")
-  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++14 -Wno-deprecated-declarations -ftemplate-backtrace-limit=0 -Wno-array-bounds")
-  ENDIF()
+  # Set compiler specific settings (FixMe: Should not cmake do this for us
+  # automatically?)
+  if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
+    set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
+    set(CMAKE_CXX_FLAGS_RELEASE "-O3")
+    set(CMAKE_CXX_FLAGS
+        "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra  -Wno-deprecated-register -Qunused-arguments -fcolor-diagnostics"
+    )
+  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++14 -Wno-deprecated-declarations -ftemplate-backtrace-limit=0 -Wno-array-bounds"
+    )
+  endif()
 
   # Add local path for finding packages, set the local version first
   list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules")
 endif()
 
-# Find public dependencies if targets are not yet defined. (Targets might be for example
-# defined by a parent project including Sophus via `add_subdirectory`.)
+# Find public dependencies if targets are not yet defined. (Targets might be for
+# example defined by a parent project including Sophus via `add_subdirectory`.)
 
 if(NOT TARGET Eigen3::Eigen)
   find_package(Eigen3 3.3.0 REQUIRED)
@@ -51,97 +55,86 @@ if(NOT TARGET fmt::fmt)
   find_package(fmt)
 endif()
 
-
 # Define interface library target
 add_library(sophus INTERFACE)
-add_library (Sophus::Sophus ALIAS sophus)
+add_library(Sophus::Sophus ALIAS sophus)
 
 set(SOPHUS_HEADER_FILES
-  sophus/average.hpp
-  sophus/cartesian.hpp
-  sophus/ceres_manifold.hpp
-  sophus/ceres_typetraits.hpp
-  sophus/common.hpp
-  sophus/geometry.hpp
-  sophus/interpolate.hpp
-  sophus/interpolate_details.hpp
-  sophus/num_diff.hpp
-  sophus/rotation_matrix.hpp
-  sophus/rxso2.hpp
-  sophus/rxso3.hpp
-  sophus/se2.hpp
-  sophus/se3.hpp
-  sophus/sim2.hpp
-  sophus/sim3.hpp
-  sophus/sim_details.hpp
-  sophus/so2.hpp
-  sophus/so3.hpp
-  sophus/spline.hpp
-  sophus/types.hpp
-)
-
-set(SOPHUS_OTHER_FILES
-  sophus/test_macros.hpp
-  sophus/example_ensure_handler.cpp
-)
+    sophus/average.hpp
+    sophus/cartesian.hpp
+    sophus/ceres_manifold.hpp
+    sophus/ceres_typetraits.hpp
+    sophus/common.hpp
+    sophus/geometry.hpp
+    sophus/interpolate.hpp
+    sophus/interpolate_details.hpp
+    sophus/num_diff.hpp
+    sophus/rotation_matrix.hpp
+    sophus/rxso2.hpp
+    sophus/rxso3.hpp
+    sophus/se2.hpp
+    sophus/se3.hpp
+    sophus/sim2.hpp
+    sophus/sim3.hpp
+    sophus/sim_details.hpp
+    sophus/so2.hpp
+    sophus/so3.hpp
+    sophus/spline.hpp
+    sophus/types.hpp)
+
+set(SOPHUS_OTHER_FILES sophus/test_macros.hpp sophus/example_ensure_handler.cpp)
 
 if(MSVC)
   # Define common math constants if we compile with MSVC
-  target_compile_definitions (sophus INTERFACE _USE_MATH_DEFINES)
-endif (MSVC)
+  target_compile_definitions(sophus INTERFACE _USE_MATH_DEFINES)
+endif(MSVC)
 
 # Add Eigen interface dependency, depending on available cmake info
 if(TARGET Eigen3::Eigen)
   target_link_libraries(sophus INTERFACE Eigen3::Eigen)
   set(Eigen3_DEPENDENCY "find_dependency (Eigen3 ${Eigen3_VERSION})")
 else()
-  target_include_directories (sophus SYSTEM INTERFACE ${EIGEN3_INCLUDE_DIR})
+  target_include_directories(sophus SYSTEM INTERFACE ${EIGEN3_INCLUDE_DIR})
 endif()
 
-
 target_link_libraries(sophus INTERFACE fmt::fmt)
 set(fmt_DEPENDENCY "find_dependency (fmt ${fmt_VERSION})")
 message(STATUS "Turning basic logging OFF")
 
 # Associate target with include directory
-target_include_directories(sophus INTERFACE
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>"
-    "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>"
-)
+target_include_directories(
+  sophus INTERFACE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>"
+                   "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>")
 
 # Declare all used C++14 features
-target_compile_features (sophus INTERFACE
-  cxx_auto_type
-  cxx_decltype
-  cxx_nullptr
-  cxx_right_angle_brackets
-  cxx_variadic_macros
-  cxx_variadic_templates
-)
+target_compile_features(
+  sophus
+  INTERFACE cxx_auto_type cxx_decltype cxx_nullptr cxx_right_angle_brackets
+            cxx_variadic_macros cxx_variadic_templates)
 
 # Add sources as custom target so that they are shown in IDE's
 add_custom_target(other SOURCES ${SOPHUS_OTHER_FILES} ${SOPHUS_HEADER_FILES})
 
 # Create 'test' make target using ctest
 option(BUILD_SOPHUS_TESTS "Build tests." ON)
 if(BUILD_SOPHUS_TESTS)
-    enable_testing()
-    add_subdirectory(test)
+  enable_testing()
+  add_subdirectory(test)
 endif()
 
 # Build python sophus bindings
 option(BUILD_PYTHON_BINDINGS "Build python sophus bindings." OFF)
 if(BUILD_PYTHON_BINDINGS)
   include(FetchContent)
   FetchContent_Declare(
-      pybind11
-      GIT_REPOSITORY https://github.com/pybind/pybind11.git
-      GIT_TAG master
-  )
+    pybind11
+    GIT_REPOSITORY https://github.com/pybind/pybind11.git
+    GIT_TAG master)
   FetchContent_MakeAvailable(pybind11)
 
   add_subdirectory(${pybind11_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR}/pybind)
-  pybind11_add_module(sophus_pybind ${CMAKE_CURRENT_SOURCE_DIR}/sophus_pybind/bindings.cpp)
+  pybind11_add_module(sophus_pybind
+                      ${CMAKE_CURRENT_SOURCE_DIR}/sophus_pybind/bindings.cpp)
   target_link_libraries(sophus_pybind PUBLIC sophus)
 endif(BUILD_PYTHON_BINDINGS)
 
@@ -152,45 +145,41 @@ if(SOPHUS_INSTALL)
   set_target_properties(sophus PROPERTIES EXPORT_NAME Sophus)
 
   install(TARGETS sophus EXPORT SophusTargets)
-  install(EXPORT SophusTargets
+  install(
+    EXPORT SophusTargets
     NAMESPACE Sophus::
-    DESTINATION ${SOPHUS_CMAKE_EXPORT_DIR}
-  )
+    DESTINATION ${SOPHUS_CMAKE_EXPORT_DIR})
 
-  export(TARGETS sophus NAMESPACE Sophus:: FILE SophusTargets.cmake)
+  export(
+    TARGETS sophus
+    NAMESPACE Sophus::
+    FILE SophusTargets.cmake)
   export(PACKAGE Sophus)
 
   configure_package_config_file(
-    SophusConfig.cmake.in
-    ${CMAKE_CURRENT_BINARY_DIR}/SophusConfig.cmake
+    SophusConfig.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/SophusConfig.cmake
     INSTALL_DESTINATION ${SOPHUS_CMAKE_EXPORT_DIR}
-    NO_CHECK_REQUIRED_COMPONENTS_MACRO
-  )
+    NO_CHECK_REQUIRED_COMPONENTS_MACRO)
 
   # Remove architecture dependence. Sophus is a header-only library.
   set(TEMP_SIZEOF_VOID_P ${CMAKE_SIZEOF_VOID_P})
   unset(CMAKE_SIZEOF_VOID_P)
 
   # Write version to file
-  write_basic_package_version_file (
+  write_basic_package_version_file(
     SophusConfigVersion.cmake
     VERSION ${PROJECT_VERSION}
-    COMPATIBILITY SameMajorVersion
-  )
+    COMPATIBILITY SameMajorVersion)
 
   # Recover architecture dependence
   set(CMAKE_SIZEOF_VOID_P ${TEMP_SIZEOF_VOID_P})
 
   # Install cmake targets
-  install(
-    FILES ${CMAKE_CURRENT_BINARY_DIR}/SophusConfig.cmake
-          ${CMAKE_CURRENT_BINARY_DIR}/SophusConfigVersion.cmake
-    DESTINATION ${SOPHUS_CMAKE_EXPORT_DIR}
-  )
+  install(FILES ${CMAKE_CURRENT_BINARY_DIR}/SophusConfig.cmake
+                ${CMAKE_CURRENT_BINARY_DIR}/SophusConfigVersion.cmake
+          DESTINATION ${SOPHUS_CMAKE_EXPORT_DIR})
 
   # Install header files
-  install(
-    FILES ${SOPHUS_HEADER_FILES}
-    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/sophus
-  )
+  install(FILES ${SOPHUS_HEADER_FILES}
+          DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/sophus)
 endif()

LICENSE.txt

@@ -1,4 +1,4 @@
-Copyright 2011-2017 Hauke Strasdat           
+Copyright 2011-2017 Hauke Strasdat
           2012-2017 Steven Lovegrove
 
 Permission is hereby granted, free of charge, to any person obtaining a copy

README.md

@@ -26,7 +26,7 @@ This is a c++ implementation of Lie groups commonly used for 2d and 3d
 geometric problems (i.e. for Computer Vision or Robotics applications).
 Among others, this package includes the special orthogonal groups SO(2) and
 SO(3) to present rotations in 2d and 3d as well as the special Euclidean group
-SE(2) and SE(3) to represent isometries also known as rigid body transformations 
+SE(2) and SE(3) to represent isometries also known as rigid body transformations
 (i.e. rotations and translations) in 2d and 3d.
 
 ## Status
@@ -40,21 +40,21 @@ However, next incarnations of Sophus are under development:
 
 
  - sophus2 is the next c++ iteration of Sophus and is a complete rewrite.
-   In addition to the Lie groups, it includes a more geometric concepts 
+   In addition to the Lie groups, it includes a more geometric concepts
    such unit vector, splines, image classes, camera models and more.
 
-   It is currently hosted as part of the [farm-ng-core repository](https://github.com/farm-ng/farm-ng-core/tree/cygnet-dev) 
-   and has likely only a few community users. While the code itself is in a good shape, there are 
+   It is currently hosted as part of the [farm-ng-core repository](https://github.com/farm-ng/farm-ng-core/tree/cygnet-dev)
+   and has likely only a few community users. While the code itself is in a good shape, there are
    no good build instructions yet. Hopefully, this will change in the near future.
 
 
- - sophus-rs is a Rust version of Sophus. Similar to sophus2, it includes a more geometric concepts 
+ - sophus-rs is a Rust version of Sophus. Similar to sophus2, it includes a more geometric concepts
    such unit vector, splines, image classes, camera models and more. Also it includes an early and
-   experimental version of non-linear least squares optimization library (similar to Ceres, g2o, 
+   experimental version of non-linear least squares optimization library (similar to Ceres, g2o,
    etc.).
- 
-   sophus-rs has likely only a few community users so far, but should be easy to build and 
-   experiment with - of course being written in Rust. 
+
+   sophus-rs has likely only a few community users so far, but should be easy to build and
+   experiment with - of course being written in Rust.
 
    https://github.com/sophus-vision/sophus-rs
 
@@ -67,9 +67,9 @@ How to build
 
 Sophus requires a C++17 compiler (though older versions build with C++14).
 
-Sophus is tested on Linux and macOS. It also worked on Windows in the past, however there is 
+Sophus is tested on Linux and macOS. It also worked on Windows in the past, however there is
 currently no CI for Windows, so it might require some smaller patches to build on Windows.
 
 There are no comprehensive build instructions but inspecting the install [scripts](scripts/)
-as well as the [main.yml](.github/workflows/main.yml) file should give you a good idea how to 
-build the required dependencies.
+as well as the [main.yml](.github/workflows/main.yml) file should give you a good idea how to
+build the required dependencies.

Sophus.code-workspace

@@ -67,4 +67,4 @@
 			"typeinfo": "cpp"
 		}
 	}
-}
+}