diff --git a/CHANGES.md b/CHANGES.md
index 5e48ab9..2e5aa61 100644
--- a/CHANGES.md
+++ b/CHANGES.md
@@ -1,5 +1,10 @@
 # Cepton SDK Release Notes
 
+## Version 1.17.5 2019-12-10
+
+- Add `cepton_clip.py` tool.
+- Minor CeptonViewer improvements.
+
 ## Version 1.17.4 2019-11-21
 
 - Minor CeptonViewer improvements.
diff --git a/README.md b/README.md
index ec2c70a..2409b05 100644
--- a/README.md
+++ b/README.md
@@ -50,11 +50,11 @@ See `samples`.
 
 The library requires C++11 support.
 
-| OS              | Minimum Version |
-| --------------- | --------------- |
-| `osx`           | `OSX 10.15`     |
-| `win64`         | `Windows Vista` |
-| `linux-i386`    | `Ubuntu 16.04`  |
-| `linux-x86_64`  | `Ubuntu 16.04`  |
-| `linux-arm`     | `Ubuntu 16.04`  |
-| `linux-aarch64` | `Ubuntu 16.04`  |
+| OS                          | Minimum Version |
+| --------------------------- | --------------- |
+| `osx`                       | `OSX 10.15`     |
+| `win64`                     | `Windows Vista` |
+| `linux-x86_64`              | `Ubuntu 16.04`  |
+| `linux-aarch64`             | `Ubuntu 16.04`  |
+| `linux-i386` (experimental) | `Ubuntu 16.04`  |
+| `linux-arm` (experimental)  | `Ubuntu 16.04`  |
diff --git a/VERSION b/VERSION
index 250f359..74921a9 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-1.17.4
\ No newline at end of file
+1.17.5
\ No newline at end of file
diff --git a/bin/linux-aarch64/CeptonViewer b/bin/linux-aarch64/CeptonViewer
index 279fbff..69acebf 100755
Binary files a/bin/linux-aarch64/CeptonViewer and b/bin/linux-aarch64/CeptonViewer differ
diff --git a/bin/linux-x86_64/CeptonViewer b/bin/linux-x86_64/CeptonViewer
index 58819ab..5de8613 100755
Binary files a/bin/linux-x86_64/CeptonViewer and b/bin/linux-x86_64/CeptonViewer differ
diff --git a/bin/osx/CeptonViewer.app/Contents/MacOS/CeptonViewer b/bin/osx/CeptonViewer.app/Contents/MacOS/CeptonViewer
index 3f8868d..20547c7 100755
Binary files a/bin/osx/CeptonViewer.app/Contents/MacOS/CeptonViewer and b/bin/osx/CeptonViewer.app/Contents/MacOS/CeptonViewer differ
diff --git a/bin/win64/CeptonViewer.exe b/bin/win64/CeptonViewer.exe
index d671070..88ab7ae 100644
Binary files a/bin/win64/CeptonViewer.exe and b/bin/win64/CeptonViewer.exe differ
diff --git a/bin/win64/cepton_sdk.dll b/bin/win64/cepton_sdk.dll
index 7dbbf95..09c1b3e 100644
Binary files a/bin/win64/cepton_sdk.dll and b/bin/win64/cepton_sdk.dll differ
diff --git a/cmake/CeptonCommon.cmake b/cmake/CeptonCommon.cmake
index b53a6c8..194e72a 100644
--- a/cmake/CeptonCommon.cmake
+++ b/cmake/CeptonCommon.cmake
@@ -310,3 +310,10 @@ macro(CEPTON_IMPORT_STATIC_LIBRARY lib root lib_name)
       IMPORTED_LOCATION
       "${cepton_import_static_library_path}${CEPTON_STATIC_LIBRARY_EXTENSION}")
 endmacro()
+
+# ------------------------------------------------------------------------------
+# Install
+# ------------------------------------------------------------------------------
+set(FILE_PERMISSIONS OWNER_WRITE OWNER_READ GROUP_READ WORLD_READ)
+set(PROGRAM_PERMISSIONS ${FILE_PERMISSIONS} OWNER_EXECUTE GROUP_EXECUTE
+                        WORLD_EXECUTE)
diff --git a/csharp/VERSION b/csharp/VERSION
index 250f359..74921a9 100644
--- a/csharp/VERSION
+++ b/csharp/VERSION
@@ -1 +1 @@
-1.17.4
\ No newline at end of file
+1.17.5
\ No newline at end of file
diff --git a/csharp/cepton_cs_sdk/cepton_sdk.dll b/csharp/cepton_cs_sdk/cepton_sdk.dll
index 7dbbf95..09c1b3e 100644
Binary files a/csharp/cepton_cs_sdk/cepton_sdk.dll and b/csharp/cepton_cs_sdk/cepton_sdk.dll differ
diff --git a/docs/cepton_sdk.pdf b/docs/cepton_sdk.pdf
index 6727879..1cb2b67 100644
Binary files a/docs/cepton_sdk.pdf and b/docs/cepton_sdk.pdf differ
diff --git a/docs/genindex.html b/docs/genindex.html
index 5b39139..87b3dfb 100644
--- a/docs/genindex.html
+++ b/docs/genindex.html
@@ -430,6 +430,8 @@ <h2 id="C">C</h2>
 </li>
       <li><a href="utilities.html#_CPPv4N10cepton_sdk4util11SensorPointUt2_28E">cepton_sdk::util::SensorPoint::[anonymous] (C++ member)</a>
 </li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
       <li><a href="utilities.html#_CPPv4N10cepton_sdk4util11SensorPoint8distanceE">cepton_sdk::util::SensorPoint::distance (C++ member)</a>
 </li>
       <li><a href="utilities.html#_CPPv4N10cepton_sdk4util11SensorPoint5flagsE">cepton_sdk::util::SensorPoint::flags (C++ member)</a>
@@ -440,15 +442,9 @@ <h2 id="C">C</h2>
 </li>
       <li><a href="utilities.html#_CPPv4N10cepton_sdk4util11SensorPoint9intensityE">cepton_sdk::util::SensorPoint::intensity (C++ member)</a>
 </li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
       <li><a href="utilities.html#_CPPv4N10cepton_sdk4util11SensorPoint11return_typeE">cepton_sdk::util::SensorPoint::return_type (C++ member)</a>
-</li>
-      <li><a href="utilities.html#_CPPv4N10cepton_sdk4util11SensorPoint9saturatedE">cepton_sdk::util::SensorPoint::saturated (C++ member)</a>
 </li>
       <li><a href="utilities.html#_CPPv4N10cepton_sdk4util11SensorPoint9timestampE">cepton_sdk::util::SensorPoint::timestamp (C++ member)</a>
-</li>
-      <li><a href="utilities.html#_CPPv4N10cepton_sdk4util11SensorPoint5validE">cepton_sdk::util::SensorPoint::valid (C++ member)</a>
 </li>
       <li><a href="utilities.html#_CPPv4N10cepton_sdk4util11SensorPoint1xE">cepton_sdk::util::SensorPoint::x (C++ member)</a>
 </li>
@@ -613,18 +609,16 @@ <h2 id="C">C</h2>
       <li><a href="points.html#_CPPv4N22CeptonSensorImagePoint8reservedE">CeptonSensorImagePoint::reserved (C++ member)</a>
 </li>
       <li><a href="points.html#_CPPv4N22CeptonSensorImagePoint11return_typeE">CeptonSensorImagePoint::return_type (C++ member)</a>
-</li>
-      <li><a href="points.html#_CPPv4N22CeptonSensorImagePoint9saturatedE">CeptonSensorImagePoint::saturated (C++ member)</a>
 </li>
       <li><a href="points.html#_CPPv4N22CeptonSensorImagePoint10segment_idE">CeptonSensorImagePoint::segment_id (C++ member)</a>
 </li>
       <li><a href="points.html#_CPPv4N22CeptonSensorImagePoint9timestampE">CeptonSensorImagePoint::timestamp (C++ member)</a>
-</li>
-      <li><a href="points.html#_CPPv4N22CeptonSensorImagePoint5validE">CeptonSensorImagePoint::valid (C++ member)</a>
 </li>
       <li><a href="sensors.html#_CPPv423CeptonSensorInformation">CeptonSensorInformation (C++ class)</a>
 </li>
       <li><a href="sensors.html#_CPPv4N23CeptonSensorInformationUt2_18E">CeptonSensorInformation::[anonymous] (C++ member)</a>
+</li>
+      <li><a href="sensors.html#_CPPv4N23CeptonSensorInformation5buildE">CeptonSensorInformation::build (C++ member)</a>
 </li>
       <li><a href="sensors.html#_CPPv4N23CeptonSensorInformation16firmware_versionE">CeptonSensorInformation::firmware_version (C++ member)</a>
 </li>
@@ -645,20 +639,6 @@ <h2 id="C">C</h2>
       <li><a href="sensors.html#_CPPv4N23CeptonSensorInformation11gps_ts_yearE">CeptonSensorInformation::gps_ts_year (C++ member)</a>
 </li>
       <li><a href="sensors.html#_CPPv4N23CeptonSensorInformation6handleE">CeptonSensorInformation::handle (C++ member)</a>
-</li>
-      <li><a href="sensors.html#_CPPv4N23CeptonSensorInformation13is_calibratedE">CeptonSensorInformation::is_calibrated (C++ member)</a>
-</li>
-      <li><a href="sensors.html#_CPPv4N23CeptonSensorInformation9is_mockedE">CeptonSensorInformation::is_mocked (C++ member)</a>
-</li>
-      <li><a href="sensors.html#_CPPv4N23CeptonSensorInformation17is_nmea_connectedE">CeptonSensorInformation::is_nmea_connected (C++ member)</a>
-</li>
-      <li><a href="sensors.html#_CPPv4N23CeptonSensorInformation14is_over_heatedE">CeptonSensorInformation::is_over_heated (C++ member)</a>
-</li>
-      <li><a href="sensors.html#_CPPv4N23CeptonSensorInformation16is_pps_connectedE">CeptonSensorInformation::is_pps_connected (C++ member)</a>
-</li>
-      <li><a href="sensors.html#_CPPv4N23CeptonSensorInformation16is_ptp_connectedE">CeptonSensorInformation::is_ptp_connected (C++ member)</a>
-</li>
-      <li><a href="sensors.html#_CPPv4N23CeptonSensorInformation22is_sync_firing_enabledE">CeptonSensorInformation::is_sync_firing_enabled (C++ member)</a>
 </li>
       <li><a href="sensors.html#_CPPv4N23CeptonSensorInformation17last_reported_ageE">CeptonSensorInformation::last_reported_age (C++ member)</a>
 </li>
diff --git a/docs/objects.inv b/docs/objects.inv
index cab2032..1454376 100644
Binary files a/docs/objects.inv and b/docs/objects.inv differ
diff --git a/docs/points.html b/docs/points.html
index 7df8766..a65b7da 100644
--- a/docs/points.html
+++ b/docs/points.html
@@ -233,14 +233,14 @@ <h2>Types<a class="headerlink" href="#types" title="Permalink to this headline">
 </dd></dl>
 
 <dl class="member">
-<dt id="_CPPv4N22CeptonSensorImagePoint5validE">
-<span id="_CPPv3N22CeptonSensorImagePoint5validE"></span><span id="_CPPv2N22CeptonSensorImagePoint5validE"></span><span id="CeptonSensorImagePoint::valid__uint8_t"></span><span class="target" id="structCeptonSensorImagePoint_1acf94f34b4c3a5f7d411bd9ad3f7205ff"></span>uint8_t <code class="sig-name descname">valid</code><a class="headerlink" href="#_CPPv4N22CeptonSensorImagePoint5validE" title="Permalink to this definition">¶</a><br /></dt>
+<dt>
+<span class="target" id="structCeptonSensorImagePoint_1acf94f34b4c3a5f7d411bd9ad3f7205ff"></span><code class="sig-name descname">uint8_t CeptonSensorImagePoint::valid :  1</code></dt>
 <dd><p>If <code class="docutils literal notranslate"><span class="pre">false</span></code>, then <code class="docutils literal notranslate"><span class="pre">distance</span></code> and <code class="docutils literal notranslate"><span class="pre">intensity</span></code> are invalid. </p>
 </dd></dl>
 
 <dl class="member">
-<dt id="_CPPv4N22CeptonSensorImagePoint9saturatedE">
-<span id="_CPPv3N22CeptonSensorImagePoint9saturatedE"></span><span id="_CPPv2N22CeptonSensorImagePoint9saturatedE"></span><span id="CeptonSensorImagePoint::saturated__uint8_t"></span><span class="target" id="structCeptonSensorImagePoint_1aa7d11ac48bd0964bfff6616e62ad7bc8"></span>uint8_t <code class="sig-name descname">saturated</code><a class="headerlink" href="#_CPPv4N22CeptonSensorImagePoint9saturatedE" title="Permalink to this definition">¶</a><br /></dt>
+<dt>
+<span class="target" id="structCeptonSensorImagePoint_1aa7d11ac48bd0964bfff6616e62ad7bc8"></span><code class="sig-name descname">uint8_t CeptonSensorImagePoint::saturated :  1</code></dt>
 <dd><p>If <code class="docutils literal notranslate"><span class="pre">true</span></code>, then <code class="docutils literal notranslate"><span class="pre">intensity</span></code> is invalid, and the <code class="docutils literal notranslate"><span class="pre">distance</span></code> is innacurate. </p>
 </dd></dl>
 
diff --git a/docs/searchindex.js b/docs/searchindex.js
index a896f30..70881b9 100644
--- a/docs/searchindex.js
+++ b/docs/searchindex.js
@@ -1 +1 @@
-Search.setIndex({docnames:["building","c++","capture_replay","cepton_export","cepton_player","cepton_viewer","errors","index","internal","legal","networking","overview","points","samples","samples/basic","samples/c_basic","samples/callback","samples/cmake","samples/error","samples/frame_accumulator","samples/frame_detector","samples/network","samples/organize_points","samples/process_multi","samples/process_single","samples/replay","sensors","serial","setup","utilities"],envversion:{"sphinx.domains.c":1,"sphinx.domains.changeset":1,"sphinx.domains.citation":1,"sphinx.domains.cpp":1,"sphinx.domains.javascript":1,"sphinx.domains.math":2,"sphinx.domains.python":1,"sphinx.domains.rst":1,"sphinx.domains.std":1,sphinx:56},filenames:["building.rst","c++.rst","capture_replay.rst","cepton_export.md","cepton_player.md","cepton_viewer.md","errors.rst","index.rst","internal.rst","legal.md","networking.rst","overview.rst","points.rst","samples.rst","samples/basic.rst","samples/c_basic.rst","samples/callback.rst","samples/cmake.rst","samples/error.rst","samples/frame_accumulator.rst","samples/frame_detector.rst","samples/network.rst","samples/organize_points.rst","samples/process_multi.rst","samples/process_single.rst","samples/replay.rst","sensors.rst","serial.rst","setup.rst","utilities.rst"],objects:{"":{"CeptonSDKFrameOptions::length":[28,4,1,"_CPPv4N21CeptonSDKFrameOptions6lengthE"],"CeptonSDKFrameOptions::mode":[28,4,1,"_CPPv4N21CeptonSDKFrameOptions4modeE"],"CeptonSDKFrameOptions::signature":[28,4,1,"_CPPv4N21CeptonSDKFrameOptions9signatureE"],"CeptonSDKOptions::control_flags":[28,4,1,"_CPPv4N16CeptonSDKOptions13control_flagsE"],"CeptonSDKOptions::frame":[28,4,1,"_CPPv4N16CeptonSDKOptions5frameE"],"CeptonSDKOptions::port":[28,4,1,"_CPPv4N16CeptonSDKOptions4portE"],"CeptonSDKOptions::signature":[28,4,1,"_CPPv4N16CeptonSDKOptions9signatureE"],"CeptonSensorImagePoint::[anonymous]":[12,4,1,"_CPPv4N22CeptonSensorImagePointUt2_22E"],"CeptonSensorImagePoint::distance":[12,4,1,"_CPPv4N22CeptonSensorImagePoint8distanceE"],"CeptonSensorImagePoint::flags":[12,4,1,"_CPPv4N22CeptonSensorImagePoint5flagsE"],"CeptonSensorImagePoint::image_x":[12,4,1,"_CPPv4N22CeptonSensorImagePoint7image_xE"],"CeptonSensorImagePoint::image_z":[12,4,1,"_CPPv4N22CeptonSensorImagePoint7image_zE"],"CeptonSensorImagePoint::intensity":[12,4,1,"_CPPv4N22CeptonSensorImagePoint9intensityE"],"CeptonSensorImagePoint::reserved":[12,4,1,"_CPPv4N22CeptonSensorImagePoint8reservedE"],"CeptonSensorImagePoint::return_type":[12,4,1,"_CPPv4N22CeptonSensorImagePoint11return_typeE"],"CeptonSensorImagePoint::saturated":[12,4,1,"_CPPv4N22CeptonSensorImagePoint9saturatedE"],"CeptonSensorImagePoint::segment_id":[12,4,1,"_CPPv4N22CeptonSensorImagePoint10segment_idE"],"CeptonSensorImagePoint::timestamp":[12,4,1,"_CPPv4N22CeptonSensorImagePoint9timestampE"],"CeptonSensorImagePoint::valid":[12,4,1,"_CPPv4N22CeptonSensorImagePoint5validE"],"CeptonSensorInformation::[anonymous]":[26,4,1,"_CPPv4N23CeptonSensorInformationUt2_18E"],"CeptonSensorInformation::firmware_version":[26,4,1,"_CPPv4N23CeptonSensorInformation16firmware_versionE"],"CeptonSensorInformation::flags":[26,4,1,"_CPPv4N23CeptonSensorInformation5flagsE"],"CeptonSensorInformation::formal_firmware_version":[26,4,1,"_CPPv4N23CeptonSensorInformation23formal_firmware_versionE"],"CeptonSensorInformation::gps_ts_day":[26,4,1,"_CPPv4N23CeptonSensorInformation10gps_ts_dayE"],"CeptonSensorInformation::gps_ts_hour":[26,4,1,"_CPPv4N23CeptonSensorInformation11gps_ts_hourE"],"CeptonSensorInformation::gps_ts_min":[26,4,1,"_CPPv4N23CeptonSensorInformation10gps_ts_minE"],"CeptonSensorInformation::gps_ts_month":[26,4,1,"_CPPv4N23CeptonSensorInformation12gps_ts_monthE"],"CeptonSensorInformation::gps_ts_sec":[26,4,1,"_CPPv4N23CeptonSensorInformation10gps_ts_secE"],"CeptonSensorInformation::gps_ts_year":[26,4,1,"_CPPv4N23CeptonSensorInformation11gps_ts_yearE"],"CeptonSensorInformation::handle":[26,4,1,"_CPPv4N23CeptonSensorInformation6handleE"],"CeptonSensorInformation::is_calibrated":[26,4,1,"_CPPv4N23CeptonSensorInformation13is_calibratedE"],"CeptonSensorInformation::is_mocked":[26,4,1,"_CPPv4N23CeptonSensorInformation9is_mockedE"],"CeptonSensorInformation::is_nmea_connected":[26,4,1,"_CPPv4N23CeptonSensorInformation17is_nmea_connectedE"],"CeptonSensorInformation::is_over_heated":[26,4,1,"_CPPv4N23CeptonSensorInformation14is_over_heatedE"],"CeptonSensorInformation::is_pps_connected":[26,4,1,"_CPPv4N23CeptonSensorInformation16is_pps_connectedE"],"CeptonSensorInformation::is_ptp_connected":[26,4,1,"_CPPv4N23CeptonSensorInformation16is_ptp_connectedE"],"CeptonSensorInformation::is_sync_firing_enabled":[26,4,1,"_CPPv4N23CeptonSensorInformation22is_sync_firing_enabledE"],"CeptonSensorInformation::last_reported_age":[26,4,1,"_CPPv4N23CeptonSensorInformation17last_reported_ageE"],"CeptonSensorInformation::last_reported_humidity":[26,4,1,"_CPPv4N23CeptonSensorInformation22last_reported_humidityE"],"CeptonSensorInformation::last_reported_tem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28,scanlin:28,screenshot_:5,scroll:4,sdk:[0,1,3,6,11,12,14,15,22,27,28,29],second:[1,2,11,19,21,26,28],see:[0,8,11,29],seek:2,segment:[12,26],segment_count:[12,19,26],segment_id:12,select:[5,13,28],sensor:[6,7,8,10,12,14,15,19,20,21,22,23,24,25,27,28,29],sensor_info:[11,14,15,19,20,22,29],sensorerror:[1,6,18,29],sensorerrorcallback:[1,18],sensorerrorcod:[1,6,28],sensorhandl:[1,11,14,16,18,19,20,21,22,23,24,25,28],sensorimageframecallback:[1,11,14,16,19,20,21,22,23,24,25],sensorimagepoint:[1,11,12,14,16,19,20,21,22,23,24,25,29],sensorinform:[1,11,14,19,20,22,28,29],sensorpoint:[11,14,29],separ:21,seri:28,serial:[1,7,26],serial_numb:[1,14,15,26],set:[1,2,4,5,6,8,10,12,17,27,28,29],set_opt:[19,20,21,29],setup:[7,11],ship:0,should:[2,21,29],side:[4,5],sign:9,signal:11,signatur:28,simpl:11,simplest:0,simul:8,sinc:[0,11],singl:[11,13],singleconsumerqueu:[23,24],size:[10,12,29],size_t:[1,10,11,12,14,15,16,19,20,21,22,23,24,25,26,28,29],sleep:[1,2,8,11,14,15],sln:13,socket:21,socket_bas:21,socketlisten:21,solut:13,sora:[28,29],sora_:26,sora_p60:26,sora_p61:26,sora_p90:26,sourc:11,space:[4,5,29],specifi:12,speed:2,start:[1,2,5,8,13],state:8,static_cast:22,statist:11,std:[1,6,11,14,16,19,20,21,22,23,24,25,29],stdio:15,stop:[5,14],store:[8,29],str:27,stream:29,stride:19,string:[1,6,14,19,20,22,23,24,25,26,27,28],strongest:[11,29],struct:[6,12,15,23,24,26,28,29],studio:13,subclass:29,subdirectori:0,subject:9,support:6,symbol:0,sync:26,synchron:2,t_length:1,tab:5,targ:29,target:0,target_include_directori:17,target_link_librari:[0,17],tclass:29,tdata:29,technolog:[9,22],temperatur:[6,26],templat:29,term:9,than:28,thei:6,thi:[2,8,11,21,28,29],third:9,third_parti:17,thread:[2,6,21,28,29],thread_loc:14,through:28,time:[1,5,11,12,14,15,20,26,28,29],timed_mutex:23,timestamp:[2,10,12,19,21,22,23,24,25,28,29],timestamp_end:29,timestamp_start:29,to_radian:29,to_ulong:21,to_v4:21,tool:[3,4,5],tooltip:5,top:[4,5],trademark:9,translat:[4,5],txt:17,type:[11,29],typedef:[6,10,12,26,27,28],typenam:29,typic:28,udp:[8,11,21],uint16_t:[26,28],uint32_t:[26,28],uint64_t:[1,26,29],uint8_t:[10,12,21,22,25,26,29],uncom:[14,20],undefin:29,under:11,undo:5,uniniti:6,union:[12,26,29],unix:[2,10,11,12,29],unlisten:29,unload:28,unorgan:29,unorganized_point:29,unregist:29,until:[6,26,28],unus:26,updat:[8,19,29],usag:[3,11,14,15,16,18],use:[1,4,6,9,10,11,12,28,29],used:[5,6,9,11,21,27,28,29],user:[3,4,8,10,11,12,27,28],user_data:[10,12,15,27,28],using:[2,6,21,22,29],utc:11,util:[1,7,11,12,14,19,20,21,22,23,24],valid:[6,11,12,22,26,28,29],valu:[5,6,26,28,29],variou:3,vector:[1,11,14,23,24,29],ver:28,veri:11,version:[6,8,17,26,28,29],vertic:29,vertical_bin_size_radian:29,vertical_range_radian:29,via:11,view:28,viewer:7,vista:[9,28,29],vista_860_gen2:26,vista_:26,vista_p60:26,vista_p61:26,vista_p90:26,vista_x120:26,vista_x15:26,visual:13,wai:0,wait:[1,5,11,14,15,19,20],wall:17,what:[6,8],when:[2,5,8,28],whether:[1,2,6,26,28],which:[11,22,29],width:29,window:[4,5],within:29,without:[2,9],work:11,workflow:11,would:29,wrap:11,www:22,you:[5,9],your:9,zoom:[4,5]},titles:["Building","C++","Capture Replay","Cepton Export","Cepton Player","Cepton Viewer","Errors","Cepton SDK","Internal","Legal","Networking","Overview","Points","Samples","Basic","C Basic","Callback","CMake","Error","Frame Detector","Frame Accumulator","Network","Organize Points","Process Multi","Process Single","Replay","Sensors","Serial","Setup","Utilities"],titleterms:{"export":3,"return":11,accumul:20,advanc:13,angl:4,api:7,basic:[13,14,15],build:[0,13],callback:[16,29],camera:[4,5],captur:[2,4,5,8],cepton:[3,4,5,7],clip:5,cmake:[0,17],common:29,concurr:8,control:[4,5],cursor:4,detector:19,distanc:4,download:5,error:[1,6,11,18],frame:[19,20,29],fusion:11,get:11,gui:5,instal:[3,4],intern:8,keyboard:[4,5],legal:9,main:5,manual:0,menu:5,method:[6,10,12,26,27,28],minim:8,multi:23,multipl:11,network:[8,10,21],open:[4,5],organ:[22,29],overview:11,packet:[8,11],player:4,point:[4,12,22,29],process:[23,24],receiv:8,refer:7,replai:[2,4,5,8,25],ruler:4,sampl:13,save:5,screenshot:5,sdk:[7,8],select:4,sensor:[1,5,11,26],serial:27,setup:[1,28],shortcut:[4,5],singl:24,start:11,take:5,thread:8,timestamp:11,tool:7,transform:5,tutori:5,type:[6,10,12,26,27,28],unix:13,updat:5,util:29,view:[4,5],viewer:5,window:[0,13],workflow:[4,5]}})
\ No newline at end of file
diff --git a/docs/sensors.html b/docs/sensors.html
index 77299e4..376a771 100644
--- a/docs/sensors.html
+++ b/docs/sensors.html
@@ -316,9 +316,14 @@ <h2>Types<a class="headerlink" href="#types" title="Permalink to this headline">
 <dd><p>Minor firmware version. </p>
 </dd></dl>
 
+<dl class="member">
+<dt id="_CPPv4N23CeptonSensorInformation5buildE">
+<span id="_CPPv3N23CeptonSensorInformation5buildE"></span><span id="_CPPv2N23CeptonSensorInformation5buildE"></span><span id="CeptonSensorInformation::build__uint8_t"></span><span class="target" id="structCeptonSensorInformation_1a527d91010f8968f083687ea791a8fed8"></span>uint8_t <code class="sig-name descname">build</code><a class="headerlink" href="#_CPPv4N23CeptonSensorInformation5buildE" title="Permalink to this definition">¶</a><br /></dt>
+<dd></dd></dl>
+
 <dl class="member">
 <dt id="_CPPv4N23CeptonSensorInformation6unusedE">
-<span id="_CPPv3N23CeptonSensorInformation6unusedE"></span><span id="_CPPv2N23CeptonSensorInformation6unusedE"></span><span id="CeptonSensorInformation::unused__uint8_tA"></span><span class="target" id="structCeptonSensorInformation_1a704afb73b7685079cb30d449a1eddd8e"></span>uint8_t <code class="sig-name descname">unused</code>[2]<a class="headerlink" href="#_CPPv4N23CeptonSensorInformation6unusedE" title="Permalink to this definition">¶</a><br /></dt>
+<span id="_CPPv3N23CeptonSensorInformation6unusedE"></span><span id="_CPPv2N23CeptonSensorInformation6unusedE"></span><span id="CeptonSensorInformation::unused__uint8_t"></span><span class="target" id="structCeptonSensorInformation_1a928e41298564f18236dbd9c02f29fc6f"></span>uint8_t <code class="sig-name descname">unused</code><a class="headerlink" href="#_CPPv4N23CeptonSensorInformation6unusedE" title="Permalink to this definition">¶</a><br /></dt>
 <dd></dd></dl>
 
 <dl class="member">
@@ -412,44 +417,44 @@ <h2>Types<a class="headerlink" href="#types" title="Permalink to this headline">
 </dd></dl>
 
 <dl class="member">
-<dt id="_CPPv4N23CeptonSensorInformation9is_mockedE">
-<span id="_CPPv3N23CeptonSensorInformation9is_mockedE"></span><span id="_CPPv2N23CeptonSensorInformation9is_mockedE"></span><span id="CeptonSensorInformation::is_mocked__uint32_t"></span><span class="target" id="structCeptonSensorInformation_1adb4f3b47487836cd25125849bb27752a"></span>uint32_t <code class="sig-name descname">is_mocked</code><a class="headerlink" href="#_CPPv4N23CeptonSensorInformation9is_mockedE" title="Permalink to this definition">¶</a><br /></dt>
+<dt>
+<span class="target" id="structCeptonSensorInformation_1adb4f3b47487836cd25125849bb27752a"></span><code class="sig-name descname">uint32_t CeptonSensorInformation::is_mocked :  1</code></dt>
 <dd><p>Created by capture replay. </p>
 </dd></dl>
 
 <dl class="member">
-<dt id="_CPPv4N23CeptonSensorInformation16is_pps_connectedE">
-<span id="_CPPv3N23CeptonSensorInformation16is_pps_connectedE"></span><span id="_CPPv2N23CeptonSensorInformation16is_pps_connectedE"></span><span id="CeptonSensorInformation::is_pps_connected__uint32_t"></span><span class="target" id="structCeptonSensorInformation_1a1b12bef069a7e709c9cb7357cd95810d"></span>uint32_t <code class="sig-name descname">is_pps_connected</code><a class="headerlink" href="#_CPPv4N23CeptonSensorInformation16is_pps_connectedE" title="Permalink to this definition">¶</a><br /></dt>
+<dt>
+<span class="target" id="structCeptonSensorInformation_1a1b12bef069a7e709c9cb7357cd95810d"></span><code class="sig-name descname">uint32_t CeptonSensorInformation::is_pps_connected :  1</code></dt>
 <dd><p>GPS PPS is available. </p>
 </dd></dl>
 
 <dl class="member">
-<dt id="_CPPv4N23CeptonSensorInformation17is_nmea_connectedE">
-<span id="_CPPv3N23CeptonSensorInformation17is_nmea_connectedE"></span><span id="_CPPv2N23CeptonSensorInformation17is_nmea_connectedE"></span><span id="CeptonSensorInformation::is_nmea_connected__uint32_t"></span><span class="target" id="structCeptonSensorInformation_1afb784e0d30a73514fefa9e22c5779523"></span>uint32_t <code class="sig-name descname">is_nmea_connected</code><a class="headerlink" href="#_CPPv4N23CeptonSensorInformation17is_nmea_connectedE" title="Permalink to this definition">¶</a><br /></dt>
+<dt>
+<span class="target" id="structCeptonSensorInformation_1afb784e0d30a73514fefa9e22c5779523"></span><code class="sig-name descname">uint32_t CeptonSensorInformation::is_nmea_connected :  1</code></dt>
 <dd><p>GPS NMEA is available. </p>
 </dd></dl>
 
 <dl class="member">
-<dt id="_CPPv4N23CeptonSensorInformation16is_ptp_connectedE">
-<span id="_CPPv3N23CeptonSensorInformation16is_ptp_connectedE"></span><span id="_CPPv2N23CeptonSensorInformation16is_ptp_connectedE"></span><span id="CeptonSensorInformation::is_ptp_connected__uint32_t"></span><span class="target" id="structCeptonSensorInformation_1a14a6915d929a0c1f631fe61f3756a54f"></span>uint32_t <code class="sig-name descname">is_ptp_connected</code><a class="headerlink" href="#_CPPv4N23CeptonSensorInformation16is_ptp_connectedE" title="Permalink to this definition">¶</a><br /></dt>
+<dt>
+<span class="target" id="structCeptonSensorInformation_1a14a6915d929a0c1f631fe61f3756a54f"></span><code class="sig-name descname">uint32_t CeptonSensorInformation::is_ptp_connected :  1</code></dt>
 <dd><p>PTP is available. </p>
 </dd></dl>
 
 <dl class="member">
-<dt id="_CPPv4N23CeptonSensorInformation13is_calibratedE">
-<span id="_CPPv3N23CeptonSensorInformation13is_calibratedE"></span><span id="_CPPv2N23CeptonSensorInformation13is_calibratedE"></span><span id="CeptonSensorInformation::is_calibrated__uint32_t"></span><span class="target" id="structCeptonSensorInformation_1ab8d2e8bd69c99f404baac687c6a4279c"></span>uint32_t <code class="sig-name descname">is_calibrated</code><a class="headerlink" href="#_CPPv4N23CeptonSensorInformation13is_calibratedE" title="Permalink to this definition">¶</a><br /></dt>
+<dt>
+<span class="target" id="structCeptonSensorInformation_1ab8d2e8bd69c99f404baac687c6a4279c"></span><code class="sig-name descname">uint32_t CeptonSensorInformation::is_calibrated :  1</code></dt>
 <dd><p>Calibration loaded. </p>
 </dd></dl>
 
 <dl class="member">
-<dt id="_CPPv4N23CeptonSensorInformation14is_over_heatedE">
-<span id="_CPPv3N23CeptonSensorInformation14is_over_heatedE"></span><span id="_CPPv2N23CeptonSensorInformation14is_over_heatedE"></span><span id="CeptonSensorInformation::is_over_heated__uint32_t"></span><span class="target" id="structCeptonSensorInformation_1ab7f90680cec82ef0b5e3461d367912b5"></span>uint32_t <code class="sig-name descname">is_over_heated</code><a class="headerlink" href="#_CPPv4N23CeptonSensorInformation14is_over_heatedE" title="Permalink to this definition">¶</a><br /></dt>
+<dt>
+<span class="target" id="structCeptonSensorInformation_1ab7f90680cec82ef0b5e3461d367912b5"></span><code class="sig-name descname">uint32_t CeptonSensorInformation::is_over_heated :  1</code></dt>
 <dd><p>Hit temperature limit. </p>
 </dd></dl>
 
 <dl class="member">
-<dt id="_CPPv4N23CeptonSensorInformation22is_sync_firing_enabledE">
-<span id="_CPPv3N23CeptonSensorInformation22is_sync_firing_enabledE"></span><span id="_CPPv2N23CeptonSensorInformation22is_sync_firing_enabledE"></span><span id="CeptonSensorInformation::is_sync_firing_enabled__uint32_t"></span><span class="target" id="structCeptonSensorInformation_1a0ee669f8f864b7a9f0d82c5913bd3936"></span>uint32_t <code class="sig-name descname">is_sync_firing_enabled</code><a class="headerlink" href="#_CPPv4N23CeptonSensorInformation22is_sync_firing_enabledE" title="Permalink to this definition">¶</a><br /></dt>
+<dt>
+<span class="target" id="structCeptonSensorInformation_1a0ee669f8f864b7a9f0d82c5913bd3936"></span><code class="sig-name descname">uint32_t CeptonSensorInformation::is_sync_firing_enabled :  1</code></dt>
 <dd><p>Sync fire enabled (disabled by default). </p>
 </dd></dl>
 
diff --git a/docs/utilities.html b/docs/utilities.html
index 3d087d2..f78d32b 100644
--- a/docs/utilities.html
+++ b/docs/utilities.html
@@ -244,14 +244,14 @@ <h2>Points<a class="headerlink" href="#points" title="Permalink to this headline
 </dd></dl>
 
 <dl class="member">
-<dt id="_CPPv4N10cepton_sdk4util11SensorPoint5validE">
-<span id="_CPPv3N10cepton_sdk4util11SensorPoint5validE"></span><span id="_CPPv2N10cepton_sdk4util11SensorPoint5validE"></span><span id="cepton_sdk::util::SensorPoint::valid__uint8_t"></span><span class="target" id="structcepton__sdk_1_1util_1_1SensorPoint_1a357d4047ff61a6fad8958a4b6b99c4b5"></span>uint8_t <code class="sig-name descname">valid</code><a class="headerlink" href="#_CPPv4N10cepton_sdk4util11SensorPoint5validE" title="Permalink to this definition">¶</a><br /></dt>
+<dt>
+<span class="target" id="structcepton__sdk_1_1util_1_1SensorPoint_1a357d4047ff61a6fad8958a4b6b99c4b5"></span><code class="sig-name descname">uint8_t cepton_sdk::util::SensorPoint::valid :  1</code></dt>
 <dd><p>If <code class="docutils literal notranslate"><span class="pre">false</span></code>, then the distance and intensity are invalid. </p>
 </dd></dl>
 
 <dl class="member">
-<dt id="_CPPv4N10cepton_sdk4util11SensorPoint9saturatedE">
-<span id="_CPPv3N10cepton_sdk4util11SensorPoint9saturatedE"></span><span id="_CPPv2N10cepton_sdk4util11SensorPoint9saturatedE"></span><span id="cepton_sdk::util::SensorPoint::saturated__uint8_t"></span><span class="target" id="structcepton__sdk_1_1util_1_1SensorPoint_1af498be828a864a2fcebfd6584fb8c8e5"></span>uint8_t <code class="sig-name descname">saturated</code><a class="headerlink" href="#_CPPv4N10cepton_sdk4util11SensorPoint9saturatedE" title="Permalink to this definition">¶</a><br /></dt>
+<dt>
+<span class="target" id="structcepton__sdk_1_1util_1_1SensorPoint_1af498be828a864a2fcebfd6584fb8c8e5"></span><code class="sig-name descname">uint8_t cepton_sdk::util::SensorPoint::saturated :  1</code></dt>
 <dd><p>If <code class="docutils literal notranslate"><span class="pre">true</span></code>, then the intensity is invalid. Also, the distance is valid, but inaccurate. </p>
 </dd></dl>
 
diff --git a/include/cepton_sdk.h b/include/cepton_sdk.h
index 3a2ef66..02b0cf4 100644
--- a/include/cepton_sdk.h
+++ b/include/cepton_sdk.h
@@ -201,7 +201,8 @@ struct CEPTON_SDK_EXPORT CeptonSensorInformation {
     uint8_t major;
     /// Minor firmware version.
     uint8_t minor;
-    uint8_t unused[2];
+    uint8_t build;
+    uint8_t unused;
   } formal_firmware_version;
 #endif
 
diff --git a/lib/linux-aarch64/libcepton_sdk.a b/lib/linux-aarch64/libcepton_sdk.a
index dddf055..a42080d 100644
Binary files a/lib/linux-aarch64/libcepton_sdk.a and b/lib/linux-aarch64/libcepton_sdk.a differ
diff --git a/lib/linux-aarch64/libcepton_sdk.so b/lib/linux-aarch64/libcepton_sdk.so
index 4c493c7..8120415 100644
Binary files a/lib/linux-aarch64/libcepton_sdk.so and b/lib/linux-aarch64/libcepton_sdk.so differ
diff --git a/lib/linux-arm/libcepton_sdk.a b/lib/linux-arm/libcepton_sdk.a
index 72ceb15..3895f75 100644
Binary files a/lib/linux-arm/libcepton_sdk.a and b/lib/linux-arm/libcepton_sdk.a differ
diff --git a/lib/linux-arm/libcepton_sdk.so b/lib/linux-arm/libcepton_sdk.so
index ea429b2..b834f02 100644
Binary files a/lib/linux-arm/libcepton_sdk.so and b/lib/linux-arm/libcepton_sdk.so differ
diff --git a/lib/linux-i386/libcepton_sdk.a b/lib/linux-i386/libcepton_sdk.a
index baa1573..136f078 100644
Binary files a/lib/linux-i386/libcepton_sdk.a and b/lib/linux-i386/libcepton_sdk.a differ
diff --git a/lib/linux-i386/libcepton_sdk.so b/lib/linux-i386/libcepton_sdk.so
index 713bcaa..6ad2a64 100644
Binary files a/lib/linux-i386/libcepton_sdk.so and b/lib/linux-i386/libcepton_sdk.so differ
diff --git a/lib/linux-x86_64/libcepton_sdk.a b/lib/linux-x86_64/libcepton_sdk.a
index 9cc4e53..b8b373f 100644
Binary files a/lib/linux-x86_64/libcepton_sdk.a and b/lib/linux-x86_64/libcepton_sdk.a differ
diff --git a/lib/linux-x86_64/libcepton_sdk.so b/lib/linux-x86_64/libcepton_sdk.so
index c9e9ef8..5773890 100644
Binary files a/lib/linux-x86_64/libcepton_sdk.so and b/lib/linux-x86_64/libcepton_sdk.so differ
diff --git a/lib/osx/libcepton_sdk.a b/lib/osx/libcepton_sdk.a
index 076ca7e..5c89690 100644
Binary files a/lib/osx/libcepton_sdk.a and b/lib/osx/libcepton_sdk.a differ
diff --git a/lib/osx/libcepton_sdk.dylib b/lib/osx/libcepton_sdk.dylib
index 91bdeb7..2d23238 100755
Binary files a/lib/osx/libcepton_sdk.dylib and b/lib/osx/libcepton_sdk.dylib differ
diff --git a/lib/win64/cepton_sdk.lib b/lib/win64/cepton_sdk.lib
index 7fd74d0..e5ae750 100644
Binary files a/lib/win64/cepton_sdk.lib and b/lib/win64/cepton_sdk.lib differ
diff --git a/licenses/HungarianAlgorithm.txt b/licenses/HungarianAlgorithm.txt
deleted file mode 100644
index 7d600d5..0000000
--- a/licenses/HungarianAlgorithm.txt
+++ /dev/null
@@ -1,29 +0,0 @@
-BSD 3-Clause License
-
-Copyright (c) 2017, Emma Rose Streshinsky
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
-
-* Redistributions in binary form must reproduce the above copyright notice,
-  this list of conditions and the following disclaimer in the documentation
-  and/or other materials provided with the distribution.
-
-* Neither the name of the copyright holder nor the names of its
-  contributors may be used to endorse or promote products derived from
-  this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/licenses/websocketpp.txt b/licenses/websocketpp.txt
deleted file mode 100644
index f8cc5ba..0000000
--- a/licenses/websocketpp.txt
+++ /dev/null
@@ -1,145 +0,0 @@
-Main Library:
-
-Copyright (c) 2014, Peter Thorson. All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-    * Redistributions of source code must retain the above copyright
-      notice, this list of conditions and the following disclaimer.
-    * Redistributions in binary form must reproduce the above copyright
-      notice, this list of conditions and the following disclaimer in the
-      documentation and/or other materials provided with the distribution.
-    * Neither the name of the WebSocket++ Project nor the
-      names of its contributors may be used to endorse or promote products
-      derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE DISCLAIMED. IN NO EVENT SHALL PETER THORSON BE LIABLE FOR ANY
-DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
-Bundled Libraries:
-
-****** Base 64 Library (base64/base64.hpp) ******
-base64.hpp is a repackaging of the base64.cpp and base64.h files into a
-single header suitable for use as a header only library. This conversion was
-done by Peter Thorson (webmaster@zaphoyd.com) in 2012. All modifications to
-the code are redistributed under the same license as the original, which is
-listed below.
-
-base64.cpp and base64.h
-
-Copyright (C) 2004-2008 René Nyffenegger
-
-This source code is provided 'as-is', without any express or implied
-warranty. In no event will the author be held liable for any damages
-arising from the use of this software.
-
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely, subject to the following restrictions:
-
-1. The origin of this source code must not be misrepresented; you must not
-  claim that you wrote the original source code. If you use this source code
-  in a product, an acknowledgment in the product documentation would be
-  appreciated but is not required.
-
-2. Altered source versions must be plainly marked as such, and must not be
-  misrepresented as being the original source code.
-
-3. This notice may not be removed or altered from any source distribution.
-
-René Nyffenegger rene.nyffenegger@adp-gmbh.ch
-
-****** SHA1 Library (sha1/sha1.hpp) ******
-sha1.hpp is a repackaging of the sha1.cpp and sha1.h files from the shallsha1
-library (http://code.google.com/p/smallsha1/) into a single header suitable for
-use as a header only library. This conversion was done by Peter Thorson
-(webmaster@zaphoyd.com) in 2013. All modifications to the code are redistributed
-under the same license as the original, which is listed below.
-
- Copyright (c) 2011, Micael Hildenborg
- All rights reserved.
-
- Redistribution and use in source and binary forms, with or without
- modification, are permitted provided that the following conditions are met:
-    * Redistributions of source code must retain the above copyright
-      notice, this list of conditions and the following disclaimer.
-    * Redistributions in binary form must reproduce the above copyright
-      notice, this list of conditions and the following disclaimer in the
-      documentation and/or other materials provided with the distribution.
-    * Neither the name of Micael Hildenborg nor the
-      names of its contributors may be used to endorse or promote products
-      derived from this software without specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY Micael Hildenborg ''AS IS'' AND ANY
- EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL Micael Hildenborg BE LIABLE FOR ANY
- DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
-****** MD5 Library (common/md5.hpp) ******
-md5.hpp is a reformulation of the md5.h and md5.c code from
-http://www.opensource.apple.com/source/cups/cups-59/cups/md5.c to allow it to
-function as a component of a header only library. This conversion was done by
-Peter Thorson (webmaster@zaphoyd.com) in 2012 for the WebSocket++ project. The
-changes are released under the same license as the original (listed below)
-
-Copyright (C) 1999, 2002 Aladdin Enterprises.  All rights reserved.
-
-This software is provided 'as-is', without any express or implied
-warranty.  In no event will the authors be held liable for any damages
-arising from the use of this software.
-
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely, subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not
- claim that you wrote the original software. If you use this software
- in a product, an acknowledgment in the product documentation would be
- appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be
- misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-
-L. Peter Deutsch
-ghost@aladdin.com
-
-****** UTF8 Validation logic (utf8_validation.hpp) ******
-utf8_validation.hpp is adapted from code originally written by Bjoern Hoehrmann
-<bjoern@hoehrmann.de>. See http://bjoern.hoehrmann.de/utf-8/decoder/dfa/ for
-details.
-
-The original license:
-
-Copyright (c) 2008-2009 Bjoern Hoehrmann <bjoern@hoehrmann.de>
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
diff --git a/matlab/VERSION b/matlab/VERSION
index 250f359..74921a9 100644
--- a/matlab/VERSION
+++ b/matlab/VERSION
@@ -1 +1 @@
-1.17.4
\ No newline at end of file
+1.17.5
\ No newline at end of file
diff --git a/matlab/cepton_sdk.mltbx b/matlab/cepton_sdk.mltbx
index 8ae17a3..f22bf7d 100644
Binary files a/matlab/cepton_sdk.mltbx and b/matlab/cepton_sdk.mltbx differ
diff --git a/matlab/include/cepton_sdk.h b/matlab/include/cepton_sdk.h
index 3a2ef66..02b0cf4 100644
--- a/matlab/include/cepton_sdk.h
+++ b/matlab/include/cepton_sdk.h
@@ -201,7 +201,8 @@ struct CEPTON_SDK_EXPORT CeptonSensorInformation {
     uint8_t major;
     /// Minor firmware version.
     uint8_t minor;
-    uint8_t unused[2];
+    uint8_t build;
+    uint8_t unused;
   } formal_firmware_version;
 #endif
 
diff --git a/matlab/lib/linux-aarch64/libcepton_sdk_matlab.so b/matlab/lib/linux-aarch64/libcepton_sdk_matlab.so
index a6b5e8d..64e0db2 100644
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index f66f2ec..fa9352e 100644
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index bc3940e..b4b87d5 100644
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index 3f65e57..58606cb 100644
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index e44c5a3..aacca4c 100755
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index fe80f83..712c0e2 100644
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index 91bdeb7..2d23238 100755
Binary files a/python/cepton_sdk/lib/osx/libcepton_sdk.dylib and b/python/cepton_sdk/lib/osx/libcepton_sdk.dylib differ
diff --git a/python/cepton_sdk/lib/win64/cepton_sdk.dll b/python/cepton_sdk/lib/win64/cepton_sdk.dll
index 7dbbf95..09c1b3e 100644
Binary files a/python/cepton_sdk/lib/win64/cepton_sdk.dll and b/python/cepton_sdk/lib/win64/cepton_sdk.dll differ
diff --git a/python/cepton_util/VERSION b/python/cepton_util/VERSION
index 250f359..74921a9 100644
--- a/python/cepton_util/VERSION
+++ b/python/cepton_util/VERSION
@@ -1 +1 @@
-1.17.4
\ No newline at end of file
+1.17.5
\ No newline at end of file
diff --git a/python/cepton_util/capture.py b/python/cepton_util/capture.py
index 8b87033..4032633 100644
--- a/python/cepton_util/capture.py
+++ b/python/cepton_util/capture.py
@@ -1,6 +1,7 @@
 import datetime
 import glob
 import ipaddress
+import os
 import platform
 import shutil
 import subprocess
@@ -8,6 +9,7 @@
 
 import netifaces
 import serial.tools.list_ports
+import yaml
 
 from cepton_util.common import *
 
@@ -36,28 +38,40 @@ def get_all_camera_devices():
         raise NotImplementedError("OS not supported!")
 
 
-class CameraCapture(CaptureBase):
-    def __init__(self, video_device, output_path, video_size="1280x720", **kwargs):
-        if shutil.which("dumpcap") is None:
-            raise OSError("Cannot find ffmpeg!")
-        if not sys.platform.startswith("linux"):
-            raise NotImplementedError("OS not supported!")
+def process_video(input_path):
+    output_path = modify_path(input_path, postfix="_tmp")
+    cmd_list = [
+        "ffmpeg",
+        "-nostdin",
+        "-y",
+        "-i", input_path,
+        "-c:v", "libx265",
+        "-preset", "veryfast",
+        "-an",
+        "-movflags", "faststart",
+        output_path,
+    ]
+    execute_command(cmd_list, quiet=True)
+    os.remove(input_path)
+    os.rename(output_path, input_path)
+
 
+class CameraCapture(CaptureBase):
+    def __init__(self, video_device, output_path, video_size="1920x1080", **kwargs):
         super().__init__(**kwargs)
 
+        self.output_path = output_path
         cmd_list = [
             "ffmpeg",
-            "-loglevel", "error",  # Quiet
-            "-nostdin",  # Disable capturing keyboard
-            "-y",  # Overwrite
+            "-loglevel", "error",
+            "-nostdin",
+            "-y",
             "-f", "v4l2",
-            "-video_size", video_size,  # Video size
-            "-input_format", "mjpeg",  # Video codec
-            "-ts", "mono2abs",
+            "-framerate", "30",
+            "-video_size", video_size,
             "-i", str(video_device),
-            "-c:v", "copy",  # Copy video codec
-            "-an",  # No audio
-            "-copyts",  # Copy timestamps
+            "-c:v", "copy",
+            "-an",
             output_path,
         ]
         options = {
@@ -71,6 +85,7 @@ def close(self):
         except:
             pass
         self._proc = None
+        process_video(self.output_path)
 
 
 def find_network_interface():
@@ -90,9 +105,6 @@ def find_network_interface():
 
 class NetworkCapture(CaptureBase):
     def __init__(self, output_path, interface=None, **kwargs):
-        if shutil.which("dumpcap") is None:
-            raise RuntimeError("Cannot find dumpcap!")
-
         if interface is None:
             interface = find_network_interface()
 
@@ -100,11 +112,11 @@ def __init__(self, output_path, interface=None, **kwargs):
 
         cmd_list = [
             "dumpcap",
-            "-q",  # Quiet
-            "-i", interface,  # Interface
-            "-w", output_path,  # Output path
-            "-P",  # PCAP
-            "-B", "1024",  # Buffer size
+            "-q",
+            "-i", interface,
+            "-w", output_path,
+            "-P",
+            "-B", "1024",
         ]
         options = {
             "background": True,
@@ -122,16 +134,14 @@ def close(self):
 
 def get_all_ros_topics():
     try:
-        return sorted(subprocess.check_output(["rostopic", "list"]).decode("utf-8").split())
+        result = subprocess.check_output(["rostopic", "list"], timeout=1)
+        return sorted(result.decode("utf-8").split())
     except:
         return []
 
 
 class ROSCapture(CaptureBase):
     def __init__(self, ros_topics, output_path, **kwargs):
-        if shutil.which("rosbag") is None:
-            raise OSError("Cannot find rosbag!")
-
         super().__init__(**kwargs)
 
         cmd_list = [
@@ -159,9 +169,6 @@ def get_all_serial_ports():
 
 class SerialCapture(CaptureBase):
     def __init__(self, port, output_path, **kwargs):
-        if not sys.platform.startswith("linux"):
-            raise OSError("Unsupported platform!")
-
         super().__init__(**kwargs)
 
         cmd_list = [
@@ -181,4 +188,99 @@ def close(self):
         self._proc = None
 
 
+def clip_pcap(input_path, output_path, start, end):
+    cmd_list = [
+        "capinfos",
+        "-S",
+        "-a",
+        input_path
+    ]
+    result = subprocess.check_output(cmd_list).decode("utf-8")
+    info = yaml.load(result, Loader=yaml.FullLoader)
+    t_0 = float(info["First packet time"])
+    time_template = "%Y-%m-%d %H:%M:%S"
+
+    cmd_list = [
+        "editcap",
+        "-F", "pcap",
+    ]
+    if start is not None:
+        start += t_0
+        start_str = \
+            datetime.datetime.fromtimestamp(start).strftime(time_template)
+        cmd_list += ["-A", start_str]
+    if end is not None:
+        end += t_0
+        end_str = datetime.datetime.fromtimestamp(end).strftime(time_template)
+        cmd_list += ["-B", end_str]
+    cmd_list += [input_path, output_path]
+    execute_command(cmd_list, quiet=True)
+
+
+def clip_video(input_path, output_path, start=None, end=None):
+    cmd_list = [
+        "ffmpeg",
+        "-nostdin",
+        "-y",
+        "-i", input_path,
+        "-c:v", "libx265",
+        "-preset", "veryfast",
+        "-movflags", "faststart",
+    ]
+    if start is not None:
+        cmd_list += ["-ss", str(start)]
+    if end is not None:
+        cmd_list += ["-to", str(end)]
+    cmd_list += [output_path]
+    execute_command(cmd_list, quiet=True)
+
+
+def clip_ros(input_path, output_path, start=None, end=None):
+    cmd_list = [
+        "rosbag", "info",
+        "--yaml",
+        "--key=start",
+        input_path,
+    ]
+    t_0 = float(subprocess.check_output(cmd_list))
+
+    filter_command = []
+    if start is not None:
+        start += t_0
+        filter_command += ["(t.secs >= {})".format(start)]
+    if end is not None:
+        end += t_0
+        filter_command += ["(t.secs <= {})".format(end)]
+    cmd_list = [
+        "rosbag", "filter",
+        input_path,
+        output_path,
+        " and ".join(filter_command),
+    ]
+    execute_command(cmd_list, quiet=True)
+
+
+def clip_capture(input_dir, output_dir, start=None, end=None):
+    input_dir = InputDataDirectory(input_dir)
+    output_dir = OutputDataDirectory(output_dir)
+    shutil.rmtree(output_dir.path)
+    output_dir.copy_settings(input_dir.path)
+
+    options = {
+        "start": start,
+        "end": end,
+    }
+    if input_dir.network_path is not None:
+        clip_pcap(input_dir.network_path, output_dir.network_path, **options)
+    if input_dir.ros_path is not None:
+        try:
+            clip_ros(input_dir.ros_path, output_dir.ros_path, **options)
+        except FileNotFoundError:
+            pass
+    for input_path in input_dir.camera_paths():
+        output_path = os.path.join(
+            output_dir.path, os.path.basename(input_path))
+        clip_video(input_path, output_path, **options)
+
+
 __all__ = _all_builder.get()
diff --git a/python/cepton_util/common.py b/python/cepton_util/common.py
index 99a0cc0..a088e85 100644
--- a/python/cepton_util/common.py
+++ b/python/cepton_util/common.py
@@ -154,6 +154,10 @@ def parse_time_hms(s):
     return sec
 
 
+def serialize_time_hms(s):
+    return time.strftime("%H:%M:%S", time.gmtime(s))
+
+
 @optional_function
 def parse_list(s, **kwargs):
     options = {
@@ -519,17 +523,23 @@ def __init__(self, path=None):
         if (self.path is not None) and (not os.path.isdir(self.path)):
             raise ValueError("Invalid directory: {}".format(self.path))
 
-    def _find_file(self, path):
+    def _find_file(self, path, other_extensions=[]):
         if path is None:
             return None
         if os.path.exists(path):
             return path
+        for ext in other_extensions:
+            path_tmp = set_extension(path, ext)
+            if os.path.exists(path_tmp):
+                return path_tmp
         return None
 
 
 def copy_settings(src, dst):
     if src == dst:
         return
+    if not os.path.isdir(dst):
+        os.makedirs(dst)
     patterns = ["*.json"]
     for pattern in patterns:
         for path in glob.glob(os.path.join(src, pattern)):
@@ -559,7 +569,6 @@ def add_arguments(cls, parser):
     def parse_arguments(cls, args):
         options = {
             "duration": parse_time_hms(args.duration),
-            "name": args.name,
         }
         return process_options(options)
 
@@ -576,7 +585,7 @@ def wait(self):
             kill_background()
 
 
-def _add_data_directory_path(name, path):
+def _add_data_directory_path(name, path, other_extensions=[]):
     default_name_member = "default_{}_name".format(name)
     setattr(DataDirectoryMixin, default_name_member, path)
 
@@ -587,7 +596,8 @@ def default_path_func(self):
             property(default_path_func))
 
     def input_path_func(self):
-        return self._find_file(getattr(self, default_path_member))
+        return self._find_file(
+            getattr(self, default_path_member), other_extensions=other_extensions)
     setattr(InputDataDirectory, "{}_path".format(
         name), property(input_path_func))
 
@@ -598,9 +608,9 @@ def output_path_func(self):
 
 
 _add_data_directory_path("clips", "cepton_clips.json")
-_add_data_directory_path("gps", "gps.txt")
-_add_data_directory_path("imu", "imu.txt")
-_add_data_directory_path("odometry", "odometry.txt")
+_add_data_directory_path("gps", "gps.txt", [".csv"])
+_add_data_directory_path("imu", "imu.txt", [".csv"])
+_add_data_directory_path("odometry", "odometry.txt", [".csv"])
 _add_data_directory_path("network", "lidar.pcap")
 _add_data_directory_path("player_settings", "cepton_player_config.json")
 _add_data_directory_path("ros", "ros.bag")
@@ -609,7 +619,7 @@ def output_path_func(self):
 _add_data_directory_path("viewer_config", "cepton_viewer_config.json")
 
 
-def _add_data_directory_multi_path(name, path):
+def _add_data_directory_multi_path(name, path, other_extensions=[]):
     default_name_member = "default_{}_name".format(name)
 
     @classmethod
@@ -625,11 +635,17 @@ def default_path_func(self, i):
     def input_paths_func(self):
         if self.path is None:
             return []
-        return glob.glob(os.path.join(self.path, path.format("[0-9]")))
+        path_tmp = os.path.join(self.path, path.format("[0-9]"))
+        result = glob.glob(path_tmp)
+        for ext in other_extensions:
+            result += glob.glob(
+                os.path.join(self.path, set_extension(path_tmp, ext)))
+        return result
     setattr(InputDataDirectory, "{}_paths".format(name), input_paths_func)
 
     def input_path_func(self, i):
-        return self._find_file(getattr(self, default_path_member)(i))
+        return self._find_file(
+            getattr(self, default_path_member)(i), other_extensions=other_extensions)
     setattr(InputDataDirectory, "{}_path".format(name), input_path_func)
 
     def output_path_func(self, i):
@@ -637,7 +653,7 @@ def output_path_func(self, i):
     setattr(OutputDataDirectory, "{}_path".format(name), output_path_func)
 
 
-_add_data_directory_multi_path("camera", "camera_{}.mkv")
+_add_data_directory_multi_path("camera", "camera_{}.mkv", [".mp4"])
 _add_data_directory_multi_path("serial", "serial_{}.txt")
 
 
diff --git a/python/samples/common.py b/python/samples/common.py
old mode 100644
new mode 100755
diff --git a/python/samples/multiple_sensors.py b/python/samples/multiple_sensors.py
old mode 100644
new mode 100755
diff --git a/python/samples/single_sensor.py b/python/samples/single_sensor.py
old mode 100644
new mode 100755
diff --git a/python/setup.py b/python/setup.py
index 78db85b..bc7322c 100644
--- a/python/setup.py
+++ b/python/setup.py
@@ -42,6 +42,7 @@
         scripts=[
             "tools/cepton_capture_gui.py",
             "tools/cepton_capture.py",
+            "tools/cepton_clip.py",
             "tools/cepton_export_serial.py",
             "tools/cepton_export.py",
             "tools/cepton_georeference.py",
diff --git a/python/tools/cepton_capture.py b/python/tools/cepton_capture.py
old mode 100644
new mode 100755
index 3a2ea75..6c209ea
--- a/python/tools/cepton_capture.py
+++ b/python/tools/cepton_capture.py
@@ -10,9 +10,9 @@
 
 def main():
     description = """
-Captures network and video.
+Captures camera, network, ROS, and serial.
 
-Dependencies: dumpcap, ffmpeg
+Dependencies: ffmpeg, wireshark.
 """
     parser = argparse.ArgumentParser(
         usage="%(prog)s [OPTIONS] output_dir",
@@ -27,9 +27,6 @@ def main():
     parser.add_argument("--serial_ports")
     args = parser.parse_args()
 
-    if (not args.network) and (args.camera_devices is None):
-        raise ValueError("Nothing to capture!")
-
     capture = OutputDataDirectory.from_arguments(args)
     print("Capture Path: {}".format(capture.path))
 
diff --git a/python/tools/cepton_capture_gui.py b/python/tools/cepton_capture_gui.py
old mode 100644
new mode 100755
index 080bf3c..aec97ce
--- a/python/tools/cepton_capture_gui.py
+++ b/python/tools/cepton_capture_gui.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 
-import glob
 import os
 import os.path
 import subprocess
@@ -26,7 +25,7 @@ def set_list_items(widget, items, selected_items):
     return selected_items
 
 
-class Capture:
+class Window:
     def __init__(self):
         self.window = QMainWindow()
         self.window.closeEvent = self.on_close
@@ -87,19 +86,19 @@ def create_toolbox(self, widget):
         self.create_toolbox_info(layout)
 
         # Start
-        start_stop = QPushButton("Start")
-        layout.addWidget(start_stop)
+        start_stop_button = QPushButton("Start")
+        layout.addWidget(start_stop_button)
 
         def on_start_stop():
             if self.is_started:
                 self.stop()
             else:
                 self.start()
-        start_stop.clicked.connect(on_start_stop)
+        start_stop_button.clicked.connect(on_start_stop)
 
         def update():
             setup_widget.setEnabled(not self.is_started)
-            start_stop.setText("Stop" if self.is_started else "Start")
+            start_stop_button.setText("Stop" if self.is_started else "Start")
         self.update_callbacks.append(update)
 
     def create_toolbox_setup(self, parent_layout):
@@ -130,7 +129,7 @@ def on_settings_dir():
         refresh_button = QPushButton("Refresh")
         layout.addRow(refresh_button)
 
-        layout.addRow(create_toolbox_header("LiDAR"))
+        layout.addRow(create_toolbox_header("Network"))
 
         # Enable network
         enable_network_input = QCheckBox("Enable")
@@ -259,13 +258,13 @@ def on_refresh():
             for topic in get_all_ros_topics():
                 try:
                     message = subprocess.check_output(
-                        ["rostopic", "echo", "-n", "1"])[:20]
+                        ["rostopic", "echo", "-n", "1", topic], timeout=1)[:20]
                 except:
                     continue
 
-                output = QLabel()
-                layout.addRow(output)
-                output.setText(line)
+                label = QLabel()
+                layout.addRow(label)
+                label.setText(line)
 
             layout.addRow(create_toolbox_header("Serial"))
 
@@ -277,9 +276,9 @@ def on_refresh():
                 finally:
                     reader.close()
 
-                output = QLabel()
-                layout.addRow(port, output)
-                output.setText(line)
+                label = QLabel()
+                layout.addRow(port, label)
+                label.setText(line)
 
         refresh_button.pressed.connect(on_refresh)
 
@@ -322,7 +321,7 @@ def start(self):
             CameraCapture(camera_device, self.capture.camera_path(i))
             for i, camera_device in enumerate(self.camera_devices)
         ]
-        if self.network_interface is not None:
+        if self.enable_network and (self.network_interface is not None):
             self.network_capture = NetworkCapture(
                 self.capture.network_path, interface=self.network_interface)
         if self.ros_topics:
@@ -359,7 +358,7 @@ def stop(self):
 def main():
     app = QApplication(sys.argv)
 
-    capture = Capture()
+    window = Window()
     code = app.exec_()
     sys.exit(code)
 
diff --git a/python/tools/cepton_clip.py b/python/tools/cepton_clip.py
new file mode 100755
index 0000000..892e8c9
--- /dev/null
+++ b/python/tools/cepton_clip.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+
+import argparse
+import datetime
+import os
+import shutil
+import subprocess
+import sys
+
+from cepton_util.capture import *
+from cepton_util.common import *
+
+
+def main():
+    description = """
+Clips camera, network, and ROS.
+
+Dependencies: ffmpeg, wireshark.
+"""
+    parser = argparse.ArgumentParser(
+        usage="%(prog)s [OPTIONS]",
+        description=description, formatter_class=argparse.RawTextHelpFormatter)
+    parser.add_argument("-i", "--input", required=True,
+                        help="Input directory.")
+    parser.add_argument("-o", "--output", help="Output directory.")
+    parser.add_argument("--duration")
+    parser.add_argument("--end")
+    parser.add_argument("--start")
+    args = parser.parse_args()
+
+    input_dir = fix_path(args.input)
+    if args.output is None:
+        output_dir = input_dir + "_clip"
+    else:
+        output_dir = fix_path(args.output)
+    print("Output Directory: {}".format(output_dir))
+
+    start = 0
+    if args.start is not None:
+        start = parse_time_hms(args.start)
+    end = None
+    if args.end is not None:
+        end = parse_time_hms(args.end)
+    elif args.duration is not None:
+        end = start + parse_time_hms(args.duration)
+    clip_capture(input_dir, output_dir, start=start, end=end)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/python/tools/cepton_export.py b/python/tools/cepton_export.py
old mode 100644
new mode 100755
diff --git a/python/tools/cepton_export_serial.py b/python/tools/cepton_export_serial.py
old mode 100644
new mode 100755
diff --git a/python/tools/cepton_georeference.py b/python/tools/cepton_georeference.py
old mode 100644
new mode 100755
diff --git a/python/tools/cepton_list_sensors.py b/python/tools/cepton_list_sensors.py
old mode 100644
new mode 100755
diff --git a/ros/VERSION b/ros/VERSION
index 250f359..74921a9 100644
--- a/ros/VERSION
+++ b/ros/VERSION
@@ -1 +1 @@
-1.17.4
\ No newline at end of file
+1.17.5
\ No newline at end of file
diff --git a/ros/third_party/cepton_sdk/VERSION b/ros/third_party/cepton_sdk/VERSION
index 250f359..74921a9 100644
--- a/ros/third_party/cepton_sdk/VERSION
+++ b/ros/third_party/cepton_sdk/VERSION
@@ -1 +1 @@
-1.17.4
\ No newline at end of file
+1.17.5
\ No newline at end of file
diff --git a/ros/third_party/cepton_sdk/cmake/CeptonCommon.cmake b/ros/third_party/cepton_sdk/cmake/CeptonCommon.cmake
index b53a6c8..194e72a 100644
--- a/ros/third_party/cepton_sdk/cmake/CeptonCommon.cmake
+++ b/ros/third_party/cepton_sdk/cmake/CeptonCommon.cmake
@@ -310,3 +310,10 @@ macro(CEPTON_IMPORT_STATIC_LIBRARY lib root lib_name)
       IMPORTED_LOCATION
       "${cepton_import_static_library_path}${CEPTON_STATIC_LIBRARY_EXTENSION}")
 endmacro()
+
+# ------------------------------------------------------------------------------
+# Install
+# ------------------------------------------------------------------------------
+set(FILE_PERMISSIONS OWNER_WRITE OWNER_READ GROUP_READ WORLD_READ)
+set(PROGRAM_PERMISSIONS ${FILE_PERMISSIONS} OWNER_EXECUTE GROUP_EXECUTE
+                        WORLD_EXECUTE)
diff --git a/ros/third_party/cepton_sdk/include/cepton_sdk.h b/ros/third_party/cepton_sdk/include/cepton_sdk.h
index 3a2ef66..02b0cf4 100644
--- a/ros/third_party/cepton_sdk/include/cepton_sdk.h
+++ b/ros/third_party/cepton_sdk/include/cepton_sdk.h
@@ -201,7 +201,8 @@ struct CEPTON_SDK_EXPORT CeptonSensorInformation {
     uint8_t major;
     /// Minor firmware version.
     uint8_t minor;
-    uint8_t unused[2];
+    uint8_t build;
+    uint8_t unused;
   } formal_firmware_version;
 #endif
 
diff --git a/ros/third_party/cepton_sdk/lib/linux-aarch64/libcepton_sdk.so b/ros/third_party/cepton_sdk/lib/linux-aarch64/libcepton_sdk.so
index 4c493c7..8120415 100644
Binary files a/ros/third_party/cepton_sdk/lib/linux-aarch64/libcepton_sdk.so and b/ros/third_party/cepton_sdk/lib/linux-aarch64/libcepton_sdk.so differ
diff --git a/ros/third_party/cepton_sdk/lib/linux-arm/libcepton_sdk.so b/ros/third_party/cepton_sdk/lib/linux-arm/libcepton_sdk.so
index ea429b2..b834f02 100644
Binary files a/ros/third_party/cepton_sdk/lib/linux-arm/libcepton_sdk.so and b/ros/third_party/cepton_sdk/lib/linux-arm/libcepton_sdk.so differ
diff --git a/ros/third_party/cepton_sdk/lib/linux-i386/libcepton_sdk.so b/ros/third_party/cepton_sdk/lib/linux-i386/libcepton_sdk.so
index 713bcaa..6ad2a64 100644
Binary files a/ros/third_party/cepton_sdk/lib/linux-i386/libcepton_sdk.so and b/ros/third_party/cepton_sdk/lib/linux-i386/libcepton_sdk.so differ
diff --git a/ros/third_party/cepton_sdk/lib/linux-x86_64/libcepton_sdk.so b/ros/third_party/cepton_sdk/lib/linux-x86_64/libcepton_sdk.so
index c9e9ef8..5773890 100644
Binary files a/ros/third_party/cepton_sdk/lib/linux-x86_64/libcepton_sdk.so and b/ros/third_party/cepton_sdk/lib/linux-x86_64/libcepton_sdk.so differ
diff --git a/ros/third_party/cepton_sdk/lib/osx/libcepton_sdk.dylib b/ros/third_party/cepton_sdk/lib/osx/libcepton_sdk.dylib
index 91bdeb7..2d23238 100755
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diff --git a/ros/third_party/cepton_sdk/lib/win64/cepton_sdk.dll b/ros/third_party/cepton_sdk/lib/win64/cepton_sdk.dll
index 7dbbf95..09c1b3e 100644
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diff --git a/setup/cepton_sdk-linux-aarch64.deb b/setup/cepton_sdk-linux-aarch64.deb
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diff --git a/setup/cepton_sdk-linux-arm.deb b/setup/cepton_sdk-linux-arm.deb
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diff --git a/setup/cepton_sdk-linux-i386.deb b/setup/cepton_sdk-linux-i386.deb
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diff --git a/setup/cepton_sdk-linux-x86_64.deb b/setup/cepton_sdk-linux-x86_64.deb
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diff --git a/setup/cepton_sdk-osx.dmg b/setup/cepton_sdk-osx.dmg
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diff --git a/setup/cepton_sdk-win64.exe b/setup/cepton_sdk-win64.exe
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