RainerKuemmerle · RainerKuemmerle · Dec 2, 2023 · Dec 2, 2023
diff --git a/g2o/apps/g2o_cli/g2o.cpp b/g2o/apps/g2o_cli/g2o.cpp
@@ -29,7 +29,6 @@
 #include <algorithm>
 #include <cassert>
 #include <fstream>
-#include <iomanip>
 #include <iostream>
 #include <sstream>
 #include <string>
@@ -50,6 +49,7 @@
 #include "g2o/stuff/color_macros.h"
 #include "g2o/stuff/command_args.h"
 #include "g2o/stuff/filesys_tools.h"
+#include "g2o/stuff/logger.h"
 #include "g2o/stuff/macros.h"
 #include "g2o/stuff/string_tools.h"
 #include "g2o/stuff/timeutil.h"
@@ -91,7 +91,7 @@ void sigquit_handler(int sig) {
     hasToStop = 1;
     static int cnt = 0;
     if (cnt++ == 2) {
-      cerr << __PRETTY_FUNCTION__ << " forcing exit" << endl;
+      G2O_WARN("forcing exit");
       exit(1);
     }
   }

diff --git a/g2o/apps/g2o_cli/output_helper.cpp b/g2o/apps/g2o_cli/output_helper.cpp
@@ -28,12 +28,11 @@
 
 #include <Eigen/Core>
 #include <fstream>
-#include <iostream>
 
 #include "g2o/core/hyper_graph_action.h"
 #include "g2o/core/optimizable_graph.h"
 #include "g2o/stuff/filesys_tools.h"
-#include "g2o/stuff/string_tools.h"
+#include "g2o/stuff/logger.h"
 using namespace std;
 
 namespace g2o {
@@ -65,8 +64,7 @@ bool saveGnuplot(const std::string& gnudump,
   HyperGraphElementAction* saveGnuplot =
       HyperGraphActionLibrary::instance()->actionByName("writeGnuplot");
   if (!saveGnuplot) {
-    cerr << __PRETTY_FUNCTION__ << ": no action \"writeGnuplot\" registered"
-         << endl;
+    G2O_ERROR("no action \"writeGnuplot\" registered");
     return false;
   }
   WriteGnuplotAction::Parameters params;
@@ -187,8 +185,7 @@ bool dumpEdges(std::ostream& os, const OptimizableGraph& optimizer) {
   HyperGraphElementAction* saveGnuplot =
       HyperGraphActionLibrary::instance()->actionByName("writeGnuplot");
   if (!saveGnuplot) {
-    cerr << __PRETTY_FUNCTION__ << ": no action \"writeGnuplot\" registered"
-         << endl;
+    G2O_ERROR("no action \"writeGnuplot\" registered");
     return false;
   }
   WriteGnuplotAction::Parameters params;

diff --git a/g2o/apps/g2o_simulator/sensor_odometry.h b/g2o/apps/g2o_simulator/sensor_odometry.h
@@ -27,6 +27,7 @@
 #ifndef G2O_ODOMETRY_SENSOR_
 #define G2O_ODOMETRY_SENSOR_
 
+#include "g2o/stuff/logger.h"
 #include "simulator.h"
 namespace g2o {
 
@@ -53,7 +54,7 @@ class SensorOdometry : public BinarySensor<R, E, O> {
       ++it;
     }
     if (!(pcurr && pprev)) {
-      cerr << __PRETTY_FUNCTION__ << ": fatal, trajectory empty" << endl;
+      G2O_ERROR("fatal, trajectory empty");
       return;
     }
     _robotPoseObject = pprev;

diff --git a/g2o/apps/g2o_simulator/sensor_odometry2d.cpp b/g2o/apps/g2o_simulator/sensor_odometry2d.cpp
@@ -26,8 +26,7 @@
 
 #include "sensor_odometry2d.h"
 
-#include <cassert>
-#include <iostream>
+#include "g2o/stuff/logger.h"
 
 // Robot2D
 namespace g2o {
@@ -53,7 +52,7 @@ void SensorOdometry2D::sense() {
     ++it;
   }
   if (!(pcurr && pprev)) {
-    cerr << __PRETTY_FUNCTION__ << ": fatal, trajectory empty" << endl;
+    G2O_ERROR("fatal, trajectory empty");
     return;
   }
   _robotPoseObject = pprev;

diff --git a/g2o/apps/g2o_simulator/sensor_odometry3d.cpp b/g2o/apps/g2o_simulator/sensor_odometry3d.cpp
@@ -26,6 +26,7 @@
 
 #include "sensor_odometry3d.h"
 
+#include "g2o/stuff/logger.h"
 #include "g2o/types/slam3d/isometry3d_mappings.h"
 
 namespace g2o {
@@ -65,7 +66,7 @@ void SensorOdometry3D::sense() {
     ++it;
   }
   if (!(pcurr && pprev)) {
-    cerr << __PRETTY_FUNCTION__ << ": fatal, trajectory empty" << endl;
+    G2O_ERROR("fatal, trajectory empty");
     return;
   }
   _robotPoseObject = pprev;

diff --git a/g2o/apps/g2o_viewer/main_window.cpp b/g2o/apps/g2o_viewer/main_window.cpp
@@ -129,7 +129,7 @@ void MainWindow::on_btnInitialGuess_clicked() {
       }
       break;
     default:
-      cerr << __PRETTY_FUNCTION__ << " Unknown initialization method" << endl;
+      cerr << " Unknown initialization method" << endl;
       break;
   }
 

diff --git a/g2o/core/block_solver.hpp b/g2o/core/block_solver.hpp
@@ -319,7 +319,7 @@
           PoseMatrixType* m = _Hpp->block(ind1, ind2, true);
           e->mapHessianMemory(m->data(), viIdx, vjIdx, transposedBlock);
         } else {
-          G2O_ERROR("{}: not supported", __PRETTY_FUNCTION__);
+          G2O_ERROR("not supported");
         }
       }
     }

diff --git a/g2o/core/cache.cpp b/g2o/core/cache.cpp
@@ -26,8 +26,6 @@
 
 #include "cache.h"
 
-#include <iostream>
-
 #include "factory.h"
 #include "g2o/stuff/logger.h"
 #include "optimizable_graph.h"
@@ -119,13 +117,11 @@ Cache* CacheContainer::createCache(const Cache::CacheKey& key) {
   Factory* f = Factory::instance();
   HyperGraph::HyperGraphElement* e = f->construct(key.type());
   if (!e) {
-    G2O_ERROR("{}", __PRETTY_FUNCTION__);
     G2O_ERROR("fatal error in creating cache of type {}", key.type());
     return nullptr;
   }
   Cache* c = dynamic_cast<Cache*>(e);
   if (!c) {
-    G2O_ERROR("{}", __PRETTY_FUNCTION__);
     G2O_ERROR("fatal error in creating cache of type {}, wrong type",
               key.type());
     return nullptr;

diff --git a/g2o/core/hyper_dijkstra.cpp b/g2o/core/hyper_dijkstra.cpp
@@ -28,12 +28,9 @@
 
 #include <cassert>
 #include <deque>
-#include <iostream>
 #include <queue>
-#include <vector>
 
 #include "g2o/stuff/logger.h"
-#include "g2o/stuff/macros.h"
 
 namespace g2o {
 
@@ -100,8 +97,7 @@
     assert(v != 0);
     AdjacencyMap::iterator it = _adjacencyMap.find(v);
     if (it == _adjacencyMap.end()) {
-      G2O_WARN("{} Vertex {} is not in the adjacency map", __PRETTY_FUNCTION__,
-               v->id());
+      G2O_WARN("Vertex {} is not in the adjacency map", v->id());
     }
     assert(it != _adjacencyMap.end());
     it->second._distance = 0.;
@@ -115,8 +111,7 @@
     HyperGraph::Vertex* u = entry.child();
     AdjacencyMap::iterator ut = _adjacencyMap.find(u);
     if (ut == _adjacencyMap.end()) {
-      G2O_WARN("{} Vertex {} is not in the adjacency map", __PRETTY_FUNCTION__,
-               u->id());
+      G2O_WARN("Vertex {} is not in the adjacency map", u->id());
     }
     assert(ut != _adjacencyMap.end());
     double uDistance = ut->second.distance();

diff --git a/g2o/core/hyper_graph_action.cpp b/g2o/core/hyper_graph_action.cpp
@@ -26,12 +26,10 @@
 
 #include "hyper_graph_action.h"
 
-#include <iostream>
 #include <list>
 
 #include "cache.h"
 #include "g2o/stuff/logger.h"
-#include "g2o/stuff/macros.h"
 #include "optimizable_graph.h"
 
 namespace g2o {
@@ -99,14 +97,13 @@ HyperGraphElementAction* HyperGraphElementActionCollection::operator()(
 bool HyperGraphElementActionCollection::registerAction(
     const HyperGraphElementAction::HyperGraphElementActionPtr& action) {
 #ifdef G2O_DEBUG_ACTIONLIB
-  G2O_DEBUG("{} {} {}", __PRETTY_FUNCTION__, action->name(),
-            action->typeName());
+  G2O_DEBUG("{} {}", action->name(), action->typeName());
 #endif
   if (action->name() != name()) {
     G2O_ERROR(
-        "{}: invalid attempt to register an action in a collection with a "
+        "invalid attempt to register an action in a collection with a "
         "different name {} {}",
-        __PRETTY_FUNCTION__, name(), action->name());
+        name(), action->name());
   }
   _actionMap.insert(make_pair(action->typeName(), action));
   return true;
@@ -152,18 +149,16 @@ bool HyperGraphActionLibrary::registerAction(
     collection = dynamic_cast<HyperGraphElementActionCollection*>(oldAction);
     if (!collection) {
       G2O_ERROR(
-          "{}: : fatal error, a collection is not at the first level in the "
-          "library",
-          __PRETTY_FUNCTION__);
+          "fatal error, a collection is not at the first level in the "
+          "library");
       return false;
     }
   }
   if (collection) {
     return collection->registerAction(action);
   }
 #ifdef G2O_DEBUG_ACTIONLIB
-  G2O_DEBUG("{}: creating collection for {}", __PRETTY_FUNCTION__,
-            action->name());
+  G2O_DEBUG("creating collection for {}", action->name());
 #endif
   collection = new HyperGraphElementActionCollection(action->name());
   _actionMap.insert(make_pair(