🧰 cpp-utils

A lightweight C++ utility module for multithreaded pipeline components and JSON handling. Includes a flexible StageBase class for real-time data processing and tools for loading, validating, and writing structured JSON files using RapidJSON.

This module is part of my ROS/ROS2 real-time 3D tracker and its docker-implementation.

📑 Citation

If you use this software, please use the GitHub “Cite this repository” button at the top(-right) of this page.

🔧 Features

✅ JSON Tools (jsontools.h)

• Load and validate JSON documents with optional schema support
• Save structured JSON objects to disk
• Automatically timestamp JSON metadata
• Scan directories for JSON or config files

💻 Cli Tools (clitools.h)

• Simple status bar

📷 OpenCV Tools (opencvtools.h)

• Batch Video Iterator, iterate over a batch of videos frame-by-frame

🧵 StageBase Template

A generic, thread-safe, multi-stage processing base class for building C++ pipelines.
Features:

• Threaded input/output FIFOs
• Customizable ProcessFunction
• Hooks for completion callbacks
• Runtime-safe termination and thread joining

Note: The general layout of StageBase was developed as part of Cheng Minghao's PhD work.

Integration

Include this repo as a submodule or CMake interface library in larger projects, such as:

• flirmulticamera
• detection-inference
• pose-inference

Dependencies

• C++17
• OpenCV 4.10.0
• spdlog
• RapidJSON (included or linked)
• Standard C++ libraries (<mutex>, <thread>, <queue>, <chrono>, etc.)

Example Usage

Load and validate JSON

cpp_utils::Document config;
cpp_utils::load_json_with_schema("config.json", "schema.json", 8192, config);

Use the pipeline base

class MyStage : public cpp_utils::StageBase<MyInput, MyOutput> {
    bool ProcessFunction(MyInput& input, MyOutput& output) override {
        // process input -> output
        return true;
    }
};

👥 Acknowledgments

• JSON loading and schema support based on RapidJSON
• Stage Base Template was initially designed in Cheng Minghao's PhD and adjusted for online-tracking.