v1.17.6

CHANGES.md

@@ -1,5 +1,10 @@
 # Cepton SDK Release Notes
 
+## Version 1.17.6 2019-12-17
+
+- Minor CeptonViewer bugfixes.
+- Improve `cepton_capture_gui.py`.
+
 ## Version 1.17.5 2019-12-10
 
 - Add `cepton_clip.py` tool.

VERSION

@@ -1 +1 @@
-1.17.5
+1.17.6

csharp/VERSION

@@ -1 +1 @@
-1.17.5
+1.17.6

include/cepton_sdk_impl/cepton_sdk.inc

@@ -119,7 +119,7 @@ inline std::string SensorError::create_message(SensorErrorCode code,
 }
 
 inline void SensorError::check_used() const {
-  CEPTON_ASSERT(!m_code || m_used, std::string("Error not used: ") + what());
+  CEPTON_ASSERT(!m_code || m_used, std::string("Error not used: ") + what()); // NOLINT
 }
 
 namespace internal {
@@ -176,4 +176,4 @@ inline SensorError process_error(const std::string &file, int line,
 }
 }  // namespace internal
 
-}  // namespace cepton_sdk
+}  // namespace cepton_sdk

matlab/VERSION

@@ -1 +1 @@
-1.17.5
+1.17.6

matlab/include/cepton_sdk_impl/cepton_sdk.inc

@@ -119,7 +119,7 @@ inline std::string SensorError::create_message(SensorErrorCode code,
 }
 
 inline void SensorError::check_used() const {
-  CEPTON_ASSERT(!m_code || m_used, std::string("Error not used: ") + what());
+  CEPTON_ASSERT(!m_code || m_used, std::string("Error not used: ") + what()); // NOLINT
 }
 
 namespace internal {
@@ -176,4 +176,4 @@ inline SensorError process_error(const std::string &file, int line,
 }
 }  // namespace internal
 
-}  // namespace cepton_sdk
+}  // namespace cepton_sdk

python/cepton_util/VERSION

@@ -1 +1 @@
-1.17.5
+1.17.6

python/cepton_util/capture.py

@@ -38,7 +38,7 @@ def get_all_camera_devices():
         raise NotImplementedError("OS not supported!")
 
 
-def process_video(input_path):
+def process_video(input_path, **kwargs):
     output_path = modify_path(input_path, postfix="_tmp")
     cmd_list = [
         "ffmpeg",
@@ -80,12 +80,14 @@ def __init__(self, video_device, output_path, video_size="1920x1080", **kwargs):
         self._proc = execute_command(cmd_list, **options)
 
     def close(self):
+        if self._proc is None:
+            return
         try:
             self._proc.close()
         except:
             pass
         self._proc = None
-        process_video(self.output_path)
+        run_background(process_video, args=(self.output_path,))
 
 
 def find_network_interface():
@@ -125,6 +127,8 @@ def __init__(self, output_path, interface=None, **kwargs):
         self._proc = execute_command(cmd_list, **options)
 
     def close(self):
+        if self._proc is None:
+            return
         try:
             self._proc.close()
         except:
@@ -156,6 +160,8 @@ def __init__(self, ros_topics, output_path, **kwargs):
         self._proc = execute_command(cmd_list, **options)
 
     def close(self):
+        if self._proc is None:
+            return
         try:
             self._proc.close()
         except:
@@ -181,6 +187,8 @@ def __init__(self, port, output_path, **kwargs):
         self._proc = execute_command(cmd_list, **options)
 
     def close(self):
+        if self._proc is None:
+            return
         try:
             self._proc.close()
         except:

python/cepton_util/common.py

@@ -265,11 +265,23 @@ def wait_on_background():
     del __local["threads"][:]
 
 
+def _cleanup_background():
+    __local["procs"] = [
+        proc for proc in __local["procs"] if proc.proc.poll() is None]
+    __local["threads"] = [
+        thread for thread in __local["threads"] if thread.thread.is_alive()]
+
+
 def kill_background():
     del __local["procs"][:]
     del __local["threads"][:]
 
 
+def has_background():
+    _cleanup_background()
+    return __local["procs"] or __local["threads"]
+
+
 def run_background(func, args=(), kwargs={}):
     thread = BackgroundThread(target=func, args=args, kwargs=kwargs)
     thread.thread.start()

python/tools/cepton_capture.py

@@ -62,7 +62,9 @@ def main():
         for i, port in enumerate(serial_ports):
             SerialCapture(port, capture.serial_path(i))
 
+    print("Capturing...")
     capture.wait()
+    print("Processing...")
 
 
 if __name__ == "__main__":

python/tools/cepton_capture_gui.py

@@ -61,11 +61,10 @@ def __init__(self):
 
         self.window.show()
 
-    def __del__(self):
-        self.stop()
-
     def on_close(self, *args):
         self._update_timer.stop()
+        self.stop()
+        wait_on_background()
 
     def update(self):
         for f in self.update_callbacks:
@@ -294,13 +293,23 @@ def create_toolbox_info(self, parent_layout):
 
         # Path
         path_input = VariableLabel()
-        layout.addRow("Path", path_input)
+        layout.addRow("Path:", path_input)
 
         # Length
         length_input = QLabel()
-        layout.addRow("Length", length_input)
+        layout.addRow("Length:", length_input)
+
+        # Status
+        status_input = QLabel()
+        layout.addRow("Status:", status_input)
 
         def update():
+            if self.is_started:
+                status_input.setText("Capturing")
+            elif has_background():
+                status_input.setText("Processing")
+            else:
+                status_input.setText("Done")
             if self.capture is None:
                 return
             path_input.setText(self.capture.path)

ros/VERSION

@@ -1 +1 @@
-1.17.5
+1.17.6

ros/third_party/cepton_sdk/VERSION

@@ -1 +1 @@
-1.17.5
+1.17.6

ros/third_party/cepton_sdk/include/cepton_sdk_impl/cepton_sdk.inc

@@ -119,7 +119,7 @@ inline std::string SensorError::create_message(SensorErrorCode code,
 }
 
 inline void SensorError::check_used() const {
-  CEPTON_ASSERT(!m_code || m_used, std::string("Error not used: ") + what());
+  CEPTON_ASSERT(!m_code || m_used, std::string("Error not used: ") + what()); // NOLINT
 }
 
 namespace internal {
@@ -176,4 +176,4 @@ inline SensorError process_error(const std::string &file, int line,
 }
 }  // namespace internal
 
-}  // namespace cepton_sdk
+}  // namespace cepton_sdk