Utility functions for CPPXDIC Equivalent to various utility functions in Matlab xDIC. More...

#include <utils.h>

Classes
struct	CameraParameters

struct	RigidTransform

Static Public Member Functions
static bool	dicCheck (const Config &config)
	Utility functions implementation for CPPXDIC.

static bool	fileExists (const std::string &path)

static bool	directoryExists (const std::string &path)

static std::vector< std::string >	findFiles (const std::string &directory, const std::string &pattern)

static std::string	formatString (const std::string &format,...)

static std::vector< std::string >	split (const std::string &str, char delimiter)

static bool	importVid (const Config &config, int trial, int stereopair, std::vector< std::string > &cam1Frames, std::vector< std::string > &cam2Frames, int maxFrames=0)

static bool	importRawVid (const Config &config, int trial, int stereopair, int frameStart, int frameEnd, int frameJump, std::vector< std::string > &cam1Frames, std::vector< std::string > &cam2Frames, int maxFrames=0)

static bool	loadROIFromMat (const Config &config, int trial, int stereopair, std::string &roiJsonPath, std::string &roiMaskImagePath)

static bool	loadSeedFromMat (const Config &config, int trial, int stereopair, std::string &seedJsonPath)

static bool	loadCameraParameters (const std::string &mat_path, CameraParameters &params)
	Load camera calibration parameters from MATLAB .mat file Matches MATLAB: load('cameraCBparameters_cam_X.mat') Expects structure 'cameraCBparameters' with field 'cameraParameters'.

static void	undistortPoints (const std::vector< cv::Point2d > &points_in, const CameraParameters &params, std::vector< cv::Point2d > &points_out)
	Undistort 2D points using camera parameters Matches MATLAB: undistortPoints(points, cameraParameters)

static cv::Point2d	undistortPoint (const cv::Point2d &point_in, const CameraParameters &params)
	Undistort single 2D point.

static bool	DLT11Calibration (const double P2, const double P3, size_t N, std::vector< double > &L)
	Compute DLT (Direct Linear Transformation) 11 parameters from 2D-3D point correspondences Matches MATLAB: L = DLT11Calibration(P2, P3) Solves the 2Nx11 least squares system M \ P2array for 11 DLT parameters.

static bool	computeRigidTransform (const std::vector< Eigen::Vector3d > &points_from, const std::vector< Eigen::Vector3d > &points_to, RigidTransform &transform)
	Compute optimal rigid body transformation between two point clouds Matches MATLAB: rigidTransformation(Pfrom, Pto) Uses SVD-based least squares minimization.

static std::vector< Eigen::Vector3d >	applyRigidTransform (const std::vector< Eigen::Vector3d > &points_in, const RigidTransform &transform)
	Apply rigid transformation to point cloud points_out = R * points_in + t.

static void	setCameraPairs (const std::vector< std::pair< int, int > > &camera_pairs)
	Register the process-wide stereopair -> (cam_first, cam_second) table.

static const std::vector< std::pair< int, int > > &	cameraPairs ()
	Currently registered stereopair table (see setCameraPairs).

static void	getCamerasForPair (int stereopair, int &cam_first, int &cam_second)
	Get camera numbers for a given stereopair using the registered table (setCameraPairs).

static void	getCamerasForPair (int stereopair, const std::vector< std::pair< int, int > > &camera_pairs, int &cam_first, int &cam_second)
	Get camera numbers for a given stereopair using config camera_pairs mapping.

static std::string	buildBaseDataPath (const Config &config, bool with_data_or_dic_path=false, bool with_rawdata=false, bool with_speckles=false)
	Build base data path.

static std::string	buildOutputUntilTrialDir (const Config &config, int trial)
	Build output dir until Trial folder.

static std::string	buildOutputUntilPhaseDir (const Config &config, int trial)
	Build output dir until the Phase folder.

static std::string	buildPath (const Config &config, bool with_data_or_dic_path=false, bool with_rawdata=false, bool with_speckles=false, bool with_material=false, bool with_video=false, bool with_protocol=false, bool with_calib=false)
	Build the path based on activated parameters and return the proper string.

static std::string	buildUntilMaterialDir (const Config &config, bool with_data_or_dic_path, bool with_rawdata, bool with_speckles)
	Build path until material folder.

static std::string	buildOutputUntilMaterialDir (const Config &config)
	Build output path until material folder.

static std::string	buildProtocolDir (const Config &config, bool with_data_or_dic_path=false, bool with_rawdata=false, bool with_speckles=false, bool with_material=false)
	Build protocol path.

static std::string	buildVideoDir (const Config &config, bool with_data_or_dic_path=false, bool with_rawdata=false, bool with_speckles=false, bool with_material=false)
	Build the video path.

static std::string	buildCalibDir (const Config &config)
	Build the calib path.

static std::string	buildPath (const cppxdic::BaseParameters &parameters, bool with_material=false, bool with_trial=false, bool with_phase=false, bool with_cache=false)
	Build the path based on activated parameters and return the proper string.

static std::string	buildOutputPath (const cppxdic::BaseParameters &parameters)
	Build the output path.

static std::string	buildOutputCachePath (const cppxdic::BaseParameters &parameters)
	Build the output cache path.

static std::string	likeRoiOrSeedPath (const std::string &path, const std::string_view &prefix, const std::string &reftrial, const std::string &phase, int stereopair, const std::string &extension)

static std::string	likeRoiPath (const std::string &path, const std::string &reftrial, const std::string &phase, int stereopair, const std::string &extension)

static std::string	likeSeedPath (const std::string &path, const std::string &reftrial, const std::string &phase, int stereopair, const std::string &extension)

static std::string	buildRoiFilePath (const cppxdic::BaseParameters &parameters, std::string reftrial, int stereopair, const std::string &extension=".mat")
	Build the roi file path.

static std::string	buildSeedFilePath (const cppxdic::BaseParameters &parameters, std::string reftrial, int stereopair, const std::string &extension=".mat")
	Build the seed file path.

static std::string	buildMatchingFilePath (const cppxdic::BaseParameters &parameters, std::string reftrial, int stereopair, const std::string &extension=".bin")
	Build the matching file path.

static std::string	buildDic3DCombinedFilePath (const std::string pathdir, int num_pair, const std::string &ext)

static std::string	buildDic3DPPresultsFilePath (const std::string pathdir, int num_pair, const std::string &fileversion, const std::string &ext)

static std::string	buildVizPath (const std::string pathdir, const std::string filename)

static std::string	buildDic2DPairResultsFilePath (const std::string pathdir, int cam_1, int cam_2, const std::string &extension)

static std::string	buildNcorrFilePath (const std::string pathdir, int cam_1, int cam_2=-1, const std::string &extension=".bin")

Detailed Description

Utility functions for CPPXDIC Equivalent to various utility functions in Matlab xDIC.

Definition at line 17 of file utils.h.

Member Function Documentation

◆ applyRigidTransform()

std::vector< Eigen::Vector3d > Utils::applyRigidTransform	(	const std::vector< Eigen::Vector3d > &	points_in,
		const RigidTransform &	transform
	)

static

Apply rigid transformation to point cloud points_out = R * points_in + t.

Definition at line 1140 of file utils.cpp.

◆ buildBaseDataPath()

std::string Utils::buildBaseDataPath	(	const Config &	config,
		bool	with_data_or_dic_path = `false`,
		bool	with_rawdata = `false`,
		bool	with_speckles = `false`
	)

static

Build base data path.

Parameters

config	The base configuration class (required)
with_data_or_dic_path	Whether to include data/dic path in the path (required)
with_rawdata	Whether to include rawdata in the path (default as false)
with_speckles	Whether to include speckles in the path (default as false)

Returns: The constructed path string

Definition at line 1162 of file utils.cpp.

◆ buildCalibDir()

std::string Utils::buildCalibDir ( const Config & config )

static

Build the calib path.

Parameters

config The base configuration class (required)

Returns: The constructed path string

Definition at line 1257 of file utils.cpp.

◆ buildDic2DPairResultsFilePath()

std::string Utils::buildDic2DPairResultsFilePath	(	const std::string	pathdir,
		int	cam_1,
		int	cam_2,
		const std::string &	extension
	)

static

Definition at line 1357 of file utils.cpp.

◆ buildDic3DCombinedFilePath()

std::string Utils::buildDic3DCombinedFilePath	(	const std::string	pathdir,
		int	num_pair,
		const std::string &	ext
	)

static

Definition at line 1341 of file utils.cpp.

◆ buildDic3DPPresultsFilePath()

std::string Utils::buildDic3DPPresultsFilePath	(	const std::string	pathdir,
		int	num_pair,
		const std::string &	fileversion,
		const std::string &	ext
	)

static

Definition at line 1346 of file utils.cpp.

◆ buildMatchingFilePath()

std::string Utils::buildMatchingFilePath	(	const cppxdic::BaseParameters &	parameters,
		std::string	reftrial,
		int	stereopair,
		const std::string &	extension = `".bin"`
	)

static

Build the matching file path.

Parameters

parameters	The base parameters structure (required)
reftrial	The reference trial number (required)
stereopair	The stereopair number (required)
extension	The file extension (default as ".mat")

Returns: The constructed path string

Definition at line 1334 of file utils.cpp.

◆ buildNcorrFilePath()

std::string Utils::buildNcorrFilePath	(	const std::string	pathdir,
		int	cam_1,
		int	cam_2 = `-1`,
		const std::string &	extension = `".bin"`
	)

static

Definition at line 1363 of file utils.cpp.

◆ buildOutputCachePath()

std::string Utils::buildOutputCachePath ( const cppxdic::BaseParameters & parameters )

static

Build the output cache path.

Parameters

parameters The base parameters structure (required)

Returns: The constructed path string

Definition at line 1290 of file utils.cpp.

◆ buildOutputPath()

std::string Utils::buildOutputPath ( const cppxdic::BaseParameters & parameters )

static

Build the output path.

Parameters

parameters The base parameters structure (required)

Returns: The constructed path string

Definition at line 1286 of file utils.cpp.

◆ buildOutputUntilMaterialDir()

std::string Utils::buildOutputUntilMaterialDir ( const Config & config )

static

Build output path until material folder.

Parameters

config The base configuration class (required)

Returns: The constructed path string

Definition at line 1237 of file utils.cpp.

◆ buildOutputUntilPhaseDir()

std::string Utils::buildOutputUntilPhaseDir	(	const Config &	config,
		int	trial
	)

static

Build output dir until the Phase folder.

Parameters

config	The base configuration class (required)
trial	The trial number

Returns: The constructed path string

Definition at line 1195 of file utils.cpp.

◆ buildOutputUntilTrialDir()

std::string Utils::buildOutputUntilTrialDir	(	const Config &	config,
		int	trial
	)

static

Build output dir until Trial folder.

Parameters

config	The base configuration class (required)
trial	The trial number

Returns: The constructed path string

Definition at line 1186 of file utils.cpp.

◆ buildPath() [1/2]

std::string Utils::buildPath	(	const Config &	config,
		bool	with_data_or_dic_path = `false`,
		bool	with_rawdata = `false`,
		bool	with_speckles = `false`,
		bool	with_material = `false`,
		bool	with_video = `false`,
		bool	with_protocol = `false`,
		bool	with_calib = `false`
	)

static

Build the path based on activated parameters and return the proper string.

Parameters

config	The base configuration class (required)
with_data_or_dic_path	Whether to include data/dic path in the path (required)
with_rawdata	Whether to include rawdata in the path (default as false)
with_speckles	Whether to include speckles in the path (default as false)
with_material	Whether to include material in the path (default as false)
with_video	Whether to include video in the path (default as false)
with_protocol	Whether to include protocol in the path (default as false)
with_calib	Whether to include calib and calib folder set in the path (default as false)

Returns: The constructed path string

Definition at line 1204 of file utils.cpp.

◆ buildPath() [2/2]

std::string Utils::buildPath	(	const cppxdic::BaseParameters &	parameters,
		bool	with_material = `false`,
		bool	with_trial = `false`,
		bool	with_phase = `false`,
		bool	with_cache = `false`
	)

static

Build the path based on activated parameters and return the proper string.

Parameters

parameters	The base parameters structure (required)
with_material	Whether to include material in the path (default as false)
with_trial	Whether to include trial in the path (default as false)
with_phase	Whether to include phase in the path (default as false)
with_cache	Whether to include cache in the path (default as false)

Returns: The constructed path string

Definition at line 1263 of file utils.cpp.

◆ buildProtocolDir()

std::string Utils::buildProtocolDir	(	const Config &	config,
		bool	with_data_or_dic_path = `false`,
		bool	with_rawdata = `false`,
		bool	with_speckles = `false`,
		bool	with_material = `false`
	)

static

Build protocol path.

Parameters

config	The base configuration class (required)
with_data_or_dic_path	Whether to include data/dic path in the path (required)
with_rawdata	Whether to include rawdata in the path (default as false)
with_speckles	Whether to include speckles in the path (default as false)
with_material	Whether to include material in the path (default as false)

Returns: The constructed path string

Definition at line 1241 of file utils.cpp.

◆ buildRoiFilePath()

std::string Utils::buildRoiFilePath	(	const cppxdic::BaseParameters &	parameters,
		std::string	reftrial,
		int	stereopair,
		const std::string &	extension = `".mat"`
	)

static

Build the roi file path.

Parameters

parameters	The base parameters structure (required)
reftrial	The reference trial number (required)
stereopair	The stereopair number (required)
extension	The file extension (default as ".mat")

Returns: The constructed path string

Definition at line 1323 of file utils.cpp.

◆ buildSeedFilePath()

std::string Utils::buildSeedFilePath	(	const cppxdic::BaseParameters &	parameters,
		std::string	reftrial,
		int	stereopair,
		const std::string &	extension = `".mat"`
	)

static

Build the seed file path.

Parameters

parameters	The base parameters structure (required)
reftrial	The reference trial number (required)
stereopair	The stereopair number (required)
extension	The file extension (default as ".mat")

Returns: The constructed path string

Definition at line 1328 of file utils.cpp.

◆ buildUntilMaterialDir()

std::string Utils::buildUntilMaterialDir	(	const Config &	config,
		bool	with_data_or_dic_path,
		bool	with_rawdata,
		bool	with_speckles
	)

static

Build path until material folder.

Parameters

config	The base configuration class (required)
with_data_or_dic_path	Whether to include data/dic path in the path (required)
with_rawdata	Whether to include rawdata in the path (default as false)
with_speckles	Whether to include speckles in the path (default as false)

Returns: The constructed path string

Definition at line 1229 of file utils.cpp.

◆ buildVideoDir()

std::string Utils::buildVideoDir	(	const Config &	config,
		bool	with_data_or_dic_path = `false`,
		bool	with_rawdata = `false`,
		bool	with_speckles = `false`,
		bool	with_material = `false`
	)

static

Build the video path.

Parameters

config	The base configuration class (required)
with_data_or_dic_path	Whether to include data/dic path in the path (required)
with_rawdata	Whether to include rawdata in the path (default as false)
with_speckles	Whether to include speckles in the path (default as false)
with_material	Whether to include material in the path (default as false)

Returns: The constructed path string

Definition at line 1249 of file utils.cpp.

◆ buildVizPath()

std::string Utils::buildVizPath	(	const std::string	pathdir,
		const std::string	filename
	)

static

Definition at line 1353 of file utils.cpp.

◆ cameraPairs()

const std::vector< std::pair< int, int > > & Utils::cameraPairs ( )

static

Currently registered stereopair table (see setCameraPairs).

Definition at line 250 of file utils.cpp.

◆ computeRigidTransform()

bool Utils::computeRigidTransform	(	const std::vector< Eigen::Vector3d > &	points_from,
		const std::vector< Eigen::Vector3d > &	points_to,
		RigidTransform &	transform
	)

static

Compute optimal rigid body transformation between two point clouds Matches MATLAB: rigidTransformation(Pfrom, Pto) Uses SVD-based least squares minimization.

Parameters

points_from	Source point cloud to be transformed
points_to	Target point cloud
transform	Output: rotation R and translation t such that points_transformed = R * points_from + t

Returns: true if successful

Definition at line 1060 of file utils.cpp.

◆ dicCheck()

bool Utils::dicCheck ( const Config & config )

static

Utility functions implementation for CPPXDIC.

Definition at line 23 of file utils.cpp.

◆ directoryExists()

bool Utils::directoryExists ( const std::string & path )

static

Definition at line 189 of file utils.cpp.

◆ DLT11Calibration()

bool Utils::DLT11Calibration	(	const double *	P2,
		const double *	P3,
		size_t	N,
		std::vector< double > &	L
	)

static

Compute DLT (Direct Linear Transformation) 11 parameters from 2D-3D point correspondences Matches MATLAB: L = DLT11Calibration(P2, P3) Solves the 2Nx11 least squares system M \ P2array for 11 DLT parameters.

Parameters

P2	2D image points (Nx2 row-major: [u1,v1, u2,v2, ...])
P3	3D world points (Nx3 row-major: [X1,Y1,Z1, X2,Y2,Z2, ...])
N	Number of point correspondences
L	Output: 11 DLT parameters

Returns: true if successful

Definition at line 999 of file utils.cpp.

◆ fileExists()

bool Utils::fileExists ( const std::string & path )

static

Definition at line 185 of file utils.cpp.

◆ findFiles()

std::vector< std::string > Utils::findFiles	(	const std::string &	directory,
		const std::string &	pattern
	)

static

Definition at line 193 of file utils.cpp.

◆ formatString()

static std::string Utils::formatString	(	const std::string &	format,
			...
	)

static

◆ getCamerasForPair() [1/2]

void Utils::getCamerasForPair	(	int	stereopair,
		const std::vector< std::pair< int, int > > &	camera_pairs,
		int &	cam_first,
		int &	cam_second
	)

static

Get camera numbers for a given stereopair using config camera_pairs mapping.

Parameters

stereopair	The stereopair number (1-indexed)
camera_pairs	Vector of (cam_first, cam_second) pairs from config
cam_first	Output: first camera number
cam_second	Output: second camera number

Definition at line 258 of file utils.cpp.

◆ getCamerasForPair() [2/2]

void Utils::getCamerasForPair	(	int	stereopair,
		int &	cam_first,
		int &	cam_second
	)

static

Get camera numbers for a given stereopair using the registered table (setCameraPairs).

Pairs beyond the table fall back to (2N-1, 2N).

Parameters

stereopair	The stereopair number (1-indexed)
cam_first	Output: first camera number
cam_second	Output: second camera number

Definition at line 254 of file utils.cpp.

◆ importRawVid()

bool Utils::importRawVid	(	const Config &	config,
		int	trial,
		int	stereopair,
		int	frameStart,
		int	frameEnd,
		int	frameJump,
		std::vector< std::string > &	cam1Frames,
		std::vector< std::string > &	cam2Frames,
		int	maxFrames = `0`
	)

static

Definition at line 349 of file utils.cpp.

◆ importVid()

bool Utils::importVid	(	const Config &	config,
		int	trial,
		int	stereopair,
		std::vector< std::string > &	cam1Frames,
		std::vector< std::string > &	cam2Frames,
		int	maxFrames = `0`
	)

static

Definition at line 468 of file utils.cpp.

◆ likeRoiOrSeedPath()

std::string Utils::likeRoiOrSeedPath	(	const std::string &	path,
		const std::string_view &	prefix,
		const std::string &	reftrial,
		const std::string &	phase,
		int	stereopair,
		const std::string &	extension
	)

static

Definition at line 1294 of file utils.cpp.

◆ likeRoiPath()

std::string Utils::likeRoiPath	(	const std::string &	path,
		const std::string &	reftrial,
		const std::string &	phase,
		int	stereopair,
		const std::string &	extension
	)

static

Definition at line 1303 of file utils.cpp.

◆ likeSeedPath()

std::string Utils::likeSeedPath	(	const std::string &	path,
		const std::string &	reftrial,
		const std::string &	phase,
		int	stereopair,
		const std::string &	extension
	)

static

Definition at line 1309 of file utils.cpp.

◆ loadCameraParameters()

bool Utils::loadCameraParameters	(	const std::string &	mat_path,
		CameraParameters &	params
	)

static

Load camera calibration parameters from MATLAB .mat file Matches MATLAB: load('cameraCBparameters_cam_X.mat') Expects structure 'cameraCBparameters' with field 'cameraParameters'.

Definition at line 804 of file utils.cpp.

◆ loadROIFromMat()

bool Utils::loadROIFromMat	(	const Config &	config,
		int	trial,
		int	stereopair,
		std::string &	roiJsonPath,
		std::string &	roiMaskImagePath
	)

static

Definition at line 596 of file utils.cpp.

◆ loadSeedFromMat()

bool Utils::loadSeedFromMat	(	const Config &	config,
		int	trial,
		int	stereopair,
		std::string &	seedJsonPath
	)

static

Definition at line 670 of file utils.cpp.

◆ setCameraPairs()

void Utils::setCameraPairs ( const std::vector< std::pair< int, int > > & camera_pairs )

static

Register the process-wide stereopair -> (cam_first, cam_second) table.

Called once with Config::camera_pairs after the configuration is resolved (main.cpp / DicAnalysis ctor). Every getCamerasForPair(stereopair, ...) call then honours the configured mapping instead of the legacy {1,2 ; 4,3} hard-coded table. Passing an empty vector restores the legacy default.

Definition at line 246 of file utils.cpp.

◆ split()

std::vector< std::string > Utils::split	(	const std::string &	str,
		char	delimiter
	)

static

Definition at line 224 of file utils.cpp.

◆ undistortPoint()

cv::Point2d Utils::undistortPoint	(	const cv::Point2d &	point_in,
		const CameraParameters &	params
	)

static

Undistort single 2D point.

Definition at line 934 of file utils.cpp.

◆ undistortPoints()

void Utils::undistortPoints	(	const std::vector< cv::Point2d > &	points_in,
		const CameraParameters &	params,
		std::vector< cv::Point2d > &	points_out
	)

static

Undistort 2D points using camera parameters Matches MATLAB: undistortPoints(points, cameraParameters)

Parameters

points_in	Input 2D points (Nx2)
params	Camera calibration parameters
points_out	Output undistorted 2D points (Nx2)

Definition at line 911 of file utils.cpp.

The documentation for this class was generated from the following files:

include/utils.h
src/utils.cpp

Classes

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ applyRigidTransform()

◆ buildBaseDataPath()

◆ buildCalibDir()

◆ buildDic2DPairResultsFilePath()

◆ buildDic3DCombinedFilePath()

◆ buildDic3DPPresultsFilePath()

◆ buildMatchingFilePath()

◆ buildNcorrFilePath()

◆ buildOutputCachePath()

◆ buildOutputPath()

◆ buildOutputUntilMaterialDir()

◆ buildOutputUntilPhaseDir()

◆ buildOutputUntilTrialDir()

◆ buildPath() [1/2]

◆ buildPath() [2/2]

◆ buildProtocolDir()

◆ buildRoiFilePath()

◆ buildSeedFilePath()

◆ buildUntilMaterialDir()

◆ buildVideoDir()

◆ buildVizPath()

◆ cameraPairs()

◆ computeRigidTransform()

◆ dicCheck()

◆ directoryExists()

◆ DLT11Calibration()

◆ fileExists()

◆ findFiles()

◆ formatString()

◆ getCamerasForPair() [1/2]

◆ getCamerasForPair() [2/2]

◆ importRawVid()

◆ importVid()

◆ likeRoiOrSeedPath()

◆ likeRoiPath()

◆ likeSeedPath()

◆ loadCameraParameters()

◆ loadROIFromMat()

◆ loadSeedFromMat()

◆ setCameraPairs()

◆ split()

◆ undistortPoint()

◆ undistortPoints()