v1.17.3

CHANGES.md

@@ -1,5 +1,10 @@
 # Cepton SDK Release Notes
 
+## Version 1.17.3 2019-11-11
+
+- Fix timed frame detection bug with timestamp jumps.
+- Minor CeptonViewer fixes.
+
 ## Version 1.17.2 2019-11-02
 
 - Minor CeptonViewer fixes.

VERSION

@@ -1 +1 @@
-1.17.2
+1.17.3

csharp/VERSION

@@ -1 +1 @@
-1.17.2
+1.17.3

csharp/cepton_cs_sdk/CaptureReplay.cs

@@ -21,7 +21,7 @@ private static void _E(SensorErrorCode ec)
         private static extern SensorErrorCode _Close();
 
         [DllImport("cepton_sdk.dll", EntryPoint = "cepton_sdk_capture_replay_get_start_time")]
-        private static extern ulong _GetStartTime();
+        private static extern long _GetStartTime();
 
         [DllImport("cepton_sdk.dll", EntryPoint = "cepton_sdk_capture_replay_get_position")]
         private static extern float _GetStartPosition();
@@ -69,7 +69,7 @@ private static void _E(SensorErrorCode ec)
         public static void Rewind() { _E(_Rewind()); }
         public static void Seek(float position) { _E(_Seek(position)); }
         public static void SeekRelative(float position) { Seek(StartPosition + position); }
-        public static void EnableLoop(bool enabled) { }
+        public static void EnableLoop(bool enabled) { _E(_EnableLoop(enabled)); }
 
         public static bool IsOpen => _IsOpen();
         public static bool IsEnd => _IsEnd();
@@ -85,7 +85,7 @@ public static float Speed
             set { _E(_SetSpeed(value)); }
         }
 
-        public static ulong StartTime => _GetStartTime();
+        public static long StartTime => _GetStartTime();
         public static float StartPosition => _GetStartPosition();
         public static float CaptureLength => _GetLength();
     }

csharp/cepton_cs_sdk/CeptonSDK.cs

@@ -363,4 +363,4 @@ public static Sensor GetSensor(ulong serial_number) =>
 
         public static float GetFrameLength() => _GetFrameLength();
     }
-}
+}

include/cepton_sdk_impl/cepton_sdk_util.inc

@@ -619,7 +619,7 @@ bool TimedFrameDetector<TData>::update(const SensorImagePoint &point,
                                        const TData &data) {
   if (m_t == 0) m_t = point.timestamp;
   const float t_diff = from_usec(point.timestamp - m_t);
-  if (t_diff < frame_length) return false;
+  if ((t_diff < frame_length) && (t_diff > -0.01f)) return false;
 
   m_t = 0;
 

matlab/VERSION

@@ -1 +1 @@
-1.17.2
+1.17.3

matlab/include/cepton_sdk_impl/cepton_sdk_util.inc

@@ -619,7 +619,7 @@ bool TimedFrameDetector<TData>::update(const SensorImagePoint &point,
                                        const TData &data) {
   if (m_t == 0) m_t = point.timestamp;
   const float t_diff = from_usec(point.timestamp - m_t);
-  if (t_diff < frame_length) return false;
+  if ((t_diff < frame_length) && (t_diff > -0.01f)) return false;
 
   m_t = 0;
 

python/cepton_sdk/api.py

@@ -104,10 +104,9 @@ def open_replay(capture_path, capture_seek=0, enable_loop=False, enable_wait=Fal
         cepton_sdk.capture_replay.close()
     cepton_sdk.capture_replay.open(capture_path)
     cepton_sdk.capture_replay.set_enable_loop(enable_loop)
-
     if enable_wait:
         cepton_sdk.capture_replay.resume_blocking(3)
-        cepton_sdk.capture_replay.seek(capture_seek)
+    cepton_sdk.capture_replay.seek(capture_seek)
 
 
 close_replay = cepton_sdk.capture_replay.close
@@ -136,7 +135,7 @@ def _wait_on_func(func, timeout=None):
     if timeout is not None:
         t_start = get_timestamp()
     while not func():
-        wait(0.001)
+        wait(0.1)
         if timeout is not None:
             if (get_timestamp() - t_start) > timeout:
                 raise RuntimeError("Timed out!")

python/cepton_util/VERSION

@@ -1 +1 @@
-1.17.2
+1.17.3

python/cepton_util/capture.py

@@ -1,10 +1,13 @@
 import datetime
+import glob
 import ipaddress
+import platform
 import shutil
-import glob
+import subprocess
 import sys
 
 import netifaces
+import serial.tools.list_ports
 
 from cepton_util.common import *
 
@@ -26,22 +29,66 @@ def length(self):
         return get_timestamp() - self.start_time
 
 
+def get_all_camera_devices():
+    if sys.platform.startswith("linux"):
+        return sorted(glob.glob("/dev/video[0-9]"))
+    else:
+        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!")
+
+        super().__init__(**kwargs)
+
+        cmd_list = [
+            "ffmpeg",
+            "-loglevel", "error",  # Quiet
+            "-nostdin",  # Disable capturing keyboard
+            "-y",  # Overwrite
+            "-f", "v4l2",
+            "-video_size", video_size,  # Video size
+            "-input_format", "mjpeg",  # Video codec
+            "-ts", "mono2abs",
+            "-i", str(video_device),
+            "-c:v", "copy",  # Copy video codec
+            "-an",  # No audio
+            "-copyts",  # Copy timestamps
+            output_path,
+        ]
+        options = {
+            "background": True,
+        }
+        self._proc = execute_command(cmd_list, **options)
+
+    def close(self):
+        try:
+            self._proc.close()
+        except:
+            pass
+        self._proc = None
+
+
 def find_network_interface():
     interfaces = []
     for interface in netifaces.interfaces():
         try:
             if netifaces.ifaddresses(interface)[netifaces.AF_INET][0]["broadcast"] == "192.168.255.255":
                 interfaces.append(interface)
         except:
-            continue            
+            continue
     if len(interfaces) == 0:
         raise RuntimeError("No network interface found!")
     if len(interfaces) > 1:
         raise RuntimeError("Multiple network interfaces found!")
     return interfaces[0]
 
 
-class PCAPCapture(CaptureBase):
+class NetworkCapture(CaptureBase):
     def __init__(self, output_path, interface=None, **kwargs):
         if shutil.which("dumpcap") is None:
             raise RuntimeError("Cannot find dumpcap!")
@@ -72,37 +119,26 @@ def close(self):
         self._proc = None
 
 
-def get_all_camera_devices():
-    if sys.platform.startswith("linux"):
-        return sorted(glob.glob("/dev/video[0-9]"))
-    else:
-        raise NotImplementedError("OS not supported!")
+def get_all_ros_topics():
+    try:
+        return sorted(subprocess.check_output(["rostopic", "list"]).decode("utf-8").split())
+    except:
+        return []
 
 
-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!")
+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 = [
-            "ffmpeg",
-            "-loglevel", "error",  # Quiet
-            "-nostdin",  # Disable capturing keyboard
-            "-y",  # Overwrite
-            "-f", "v4l2",
-            "-video_size", video_size,  # Video size
-            "-input_format", "mjpeg",  # Video codec
-            "-ts", "mono2abs",
-            "-i", str(video_device),
-            "-c:v", "copy",  # Copy video codec
-            "-an",  # No audio
-            "-copyts",  # Copy timestamps
-            output_path,
+            "rosbag", "record",
+            "--lz4",
+            "-O", output_path,
         ]
+        cmd_list.extend(ros_topics)
         options = {
             "background": True,
         }
@@ -116,21 +152,23 @@ def close(self):
         self._proc = None
 
 
-class BagCapture(CaptureBase):
-    def __init__(self, ros_topics, output_path, **kwargs):
-        if shutil.which("rosbag") is None:
-            raise OSError("Cannot find rosbag!")
+def get_all_serial_ports():
+    return sorted([x.device for x in serial.tools.list_ports.comports()])
+
+
+class SerialCapture(CaptureBase):
+    def __init__(self, port, output_path, **kwargs):
+        if not platform.startswith("linux"):
+            raise OSError("Unsupported platform!")
 
         super().__init__(**kwargs)
 
         cmd_list = [
-            "rosbag", "record",
-            "--lz4",
-            "-O", output_path,
+            "(stty raw; cat > {}) < {}".format(output_path, port)
         ]
-        cmd_list.extend(ros_topics)
         options = {
             "background": True,
+            "shell": True,
         }
         self._proc = execute_command(cmd_list, **options)
 

python/cepton_util/common.py

@@ -505,10 +505,6 @@ def clear(self):
 
 
 class DataDirectoryMixin:
-    @classmethod
-    def default_camera_name(self, i):
-        return "camera_{}.mkv".format(i)
-
     def _get_path(self, name):
         if self.path is None:
             return None
@@ -517,9 +513,6 @@ def _get_path(self, name):
     def __bool__(self):
         return self.path is not None
 
-    def default_camera_path(self, i):
-        return self._get_path(self.default_camera_name(i))
-
 
 class InputDataDirectory(DataDirectoryMixin):
     def __init__(self, path=None):
@@ -537,13 +530,6 @@ def _find_file(self, path):
             return path
         return None
 
-    @property
-    def camera_paths(self):
-        return glob.glob(os.path.join(self.path, "camera_[0-9].mkv"))
-
-    def camera_path(self, i):
-        return self._find_file(self.default_camera_path(i))
-
 
 def copy_settings(src, dst):
     if src == dst:
@@ -556,12 +542,11 @@ def copy_settings(src, dst):
 
 
 class OutputDataDirectory(DataDirectoryMixin, ArgumentParserMixin):
-    def __init__(self, path=None, duration=None, name="", postfix="", root_dir="~/Captures"):
+    def __init__(self, path=None, duration=None, postfix="", root_dir="~/Captures"):
         self.duration = duration
 
         if path is None:
-            self.name = os.path.join(
-                get_day_str(), name, get_sec_str() + postfix)
+            self.name = os.path.join(get_day_str(), get_sec_str() + postfix)
             self.path = fix_path(os.path.join(root_dir, self.name))
         else:
             self.name = os.path.basename(path)
@@ -572,7 +557,6 @@ def __init__(self, path=None, duration=None, name="", postfix="", root_dir="~/Ca
     def add_arguments(cls, parser):
         group = parser.add_argument_group("OutputDataDirectory")
         group.add_argument("--duration", help="Capture duration.")
-        group.add_argument("--name", default="", help="Capture name.")
         return group
 
     @classmethod
@@ -588,9 +572,6 @@ def copy_settings(self, input_path=None):
             input_path = os.getcwd()
         copy_settings(input_path, self.path)
 
-    def camera_path(self, i):
-        return self.default_camera_path(i)
-
     def wait(self):
         if self.duration is None:
             wait_for_input()
@@ -620,17 +601,48 @@ def output_path_func(self):
         name), property(output_path_func))
 
 
-_add_data_directory_path("alg_settings", "cepton_alg_config.json")
-_add_data_directory_path("bag", "ros.bag")
 _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("pcap", "lidar.pcap")
+_add_data_directory_path("network", "lidar.pcap")
 _add_data_directory_path("player_settings", "cepton_player_config.json")
-_add_data_directory_path("render_settings", "cepton_render_config.json")
+_add_data_directory_path("ros", "ros.bag")
 _add_data_directory_path("rviz_config", "rviz_config.rviz")
 _add_data_directory_path("transforms", "cepton_transforms.json")
 _add_data_directory_path("viewer_config", "cepton_viewer_config.json")
 
+
+def _add_data_directory_multi_path(name, path):
+    default_name_member = "default_{}_name".format(name)
+
+    @classmethod
+    def default_name_func(cls, i):
+        return path.format(i)
+    setattr(DataDirectoryMixin, default_name_member, default_name_func)
+
+    def default_path_func(self, i):
+        return self._get_path(getattr(self, default_name_member)(i))
+    default_path_member = "default_{}_path".format(name)
+    setattr(DataDirectoryMixin, default_path_member, default_path_func)
+
+    def input_paths_func(self):
+        if self.path is None:
+            return []
+        return glob.glob(os.path.join(self.path, path.format("[0-9]")))
+    setattr(InputDataDirectory, "{}_paths".format(name), input_paths_func)
+
+    def input_path_func(self, i):
+        return self._find_file(getattr(self, default_path_member)(i))
+    setattr(InputDataDirectory, "{}_path".format(name), input_path_func)
+
+    def output_path_func(self, i):
+        return getattr(self, default_path_member)(i)
+    setattr(OutputDataDirectory, "{}_path".format(name), output_path_func)
+
+
+_add_data_directory_multi_path("camera", "camera_{}.mkv")
+_add_data_directory_multi_path("serial", "serial_{}.mkv")
+
+
 __all__ = _all_builder.get()