v1.16.0

CHANGES.md

@@ -1,5 +1,13 @@
 # Cepton SDK Release Notes
 
+### Version 1.16.0 2019-10-24
+
+* Remove deprecated sensor models.
+* Improve `cepton_sdk::util::FrameDetector` (API changed). 
+* Add `cepton_is_sora`, `cepton_is_hr80`, `cepton_is_vista`.
+* Add `segment_id` into `CeptonSensorImagePoint`.
+* Improve documentation.
+
 ### Version 1.15 2019-09-12
 * Add serial lines callback for receiving GPS/INS data.
 * Remove `*_def.h`/`*_undef.h` files.

README.md

@@ -16,7 +16,11 @@ Please read the API documentation at `docs/html/index.html`.
 
 ## Installation
 
-To install the executables, run the appropriate installer in `cepton_sdk_redist/setup`.
+To install `CeptonViewer`, download and run
+
+- Windows: <https://github.com/ceptontech/cepton_sdk_redist/raw/master/setup/cepton_sdk-win64.exe>
+- OSX: <https://github.com/ceptontech/cepton_sdk_redist/raw/master/setup/cepton_sdk-osx.dmg>
+- Linux: <https://github.com/ceptontech/cepton_sdk_redist/raw/master/setup/cepton_sdk-linux-x86_64.deb>
 
 To clone the entire repository, run
 

VERSION

@@ -1 +1 @@
-1.15
+1.16.0

cmake/CeptonCommon.cmake

@@ -57,6 +57,8 @@ if(NOT DEFINED LINUX)
 endif()
 
 # Detect OS name
+set(CONAN_ARCHITECTURE "${CMAKE_SYSTEM_PROCESSOR}")
+set(DEBIAN_ARCHITECTURE "${CMAKE_SYSTEM_PROCESSOR}")
 if(WINDOWS)
   set(OS_NAME "win64")
 elseif(APPLE)
@@ -65,10 +67,15 @@ elseif(LINUX)
   set(OS_NAME "linux-${CMAKE_SYSTEM_PROCESSOR}")
   if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "x86_64")
     set(DEBIAN_ARCHITECTURE "amd64")
+  elseif("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "i386")
+    set(DEBIAN_ARCHITECTURE "i386")
+    set(CONAN_ARCHITECTURE "x86")
   elseif("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "aarch64")
     set(DEBIAN_ARCHITECTURE "arm64")
+    set(CONAN_ARCHITECTURE "armv8")
   elseif("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "arm")
     set(DEBIAN_ARCHITECTURE "armhf")
+    set(CONAN_ARCHITECTURE "armv7hf")
   else()
     message(FATAL_ERROR "Unsupported architecture: ${CMAKE_SYSTEM_PROCESSOR}!")
   endif()

docs/.buildinfo

@@ -0,0 +1,4 @@
+# Sphinx build info version 1
+# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: bc7d00ead33626dcd24e011418248d6f
+tags: 645f666f9bcd5a90fca523b33c5a78b7

docs/_sources/building.rst.txt

@@ -23,4 +23,11 @@ It is also possible to manually link to the SDK as follows:
 
 1. Add the ``cepton_sdk_redist/include`` path.
 2. Link to the correct library binary in ``cepton_sdk_redist/lib`` or ``cepton_sdk_redist/bin``.
-3. If using the static library, define ``CEPTON_SDK_STATIC``.
+3. If statically linking, define ``CEPTON_SDK_STATIC``.
+
+Windows
+-------
+
+.. note::
+
+	It is not possible to statically link in debug mode, since the library does not ship with debug symbols.

docs/_sources/c++.rst.txt

@@ -23,7 +23,6 @@ Setup
 .. doxygenfunction:: cepton_sdk::api::open_replay
 .. doxygenfunction:: cepton_sdk::api::has_control_flags
 .. doxygenfunction:: cepton_sdk::api::enable_control_flags
-.. doxygenfunction:: cepton_sdk::api::disable_control_flags
 .. doxygenclass:: cepton_sdk::api::SensorErrorCallback
     :members:
     :undoc-members:

docs/_sources/cepton_export.md.txt

@@ -0,0 +1,21 @@
+# Cepton Export
+
+The Cepton Export tool allows exporting LiDAR points in various file formats.
+
+### Install
+
+Requirements:
+
+- Python 3
+
+Install the Cepton Python SDK
+
+```sh
+pip3 install --user -U cepton_sdk[export]
+```
+
+For usage, run
+
+```sh
+cepton_export.py -h
+```

docs/_sources/cepton_player.md.txt

@@ -0,0 +1,89 @@
+# Cepton Player
+
+The Cepton Player tool allows creating/viewing data captures. 
+
+- View live/replay data.
+- Capture data.
+- Clip/filter data.
+- Measure LiDAR points.
+- Export LiDAR points.
+
+### Install
+
+Requirements:
+
+- Python 3
+
+Install `cepton_alg`
+
+```sh
+pip3 install --user -U cepton_alg
+```
+
+To launch, run
+
+```sh
+cepton_player.py
+```
+
+### Workflows
+
+#### Open Capture
+
+- Drag and drop capture file/folder onto the main window.
+
+`OR`
+
+- Select `File` -> `Open Replay`.
+
+### Camera Controls
+
+| Command        | Mouse     |
+| -------------- | --------- |
+| Rotate View    | `LButton` |
+| Translate View | `RButton` |
+| Zoom View      | `Scroll`  |
+
+### Cursors
+
+Interactive cursors use a combination of `CTRL` + `LButton`/`RButton`.
+
+#### Distance Ruler
+
+| Command        | Key                |
+| -------------- | ------------------ |
+| Enable/Disable | `D`                |
+| Measure        | `CTRL` + `LButton` |
+
+#### Angle Ruler
+
+| Command        | Key                |
+| -------------- | ------------------ |
+| Enable/Disable | `A`                |
+| Measure        | `CTRL` + `LButton` |
+| Set Center     | `CTRL` + `RButton` |
+
+#### Point Selection
+
+| Command        | Key                |
+| -------------- | ------------------ |
+| Enable/Disable | `S`                |
+| Select         | `CTRL` + `LButton` |
+
+### Keyboard Shortcuts
+
+#### Replay
+
+| Command      | Key     |
+| ------------ | ------- |
+| Pause/Resume | `SPACE` |
+| Next Frame   | `N`     |
+
+#### View
+
+| Command           | Key |
+| ----------------- | --- |
+| Reset View Origin | `O` |
+| Front View        | `1` |
+| Top View          | `2` |
+| Side View         | `3` |

docs/_sources/cepton_viewer.md.txt

@@ -0,0 +1,87 @@
+# Cepton Viewer
+
+The Cepton Viewer tool allows viewing raw Cepton sensor data. It is primarily used for sensor debugging.
+
+- View live or replay sensor data.
+- View sensor information.
+- Update extrinsic sensor transforms.
+
+### Downloads
+
+Cepton Viewer can be downloaded from our SDK repository: <https://github.com/ceptontech/cepton_sdk_redist/setup>.
+
+- **Windows x64:** <https://www.cepton.com/downloads/cepton_sdk/latest/win64/cepton_sdk-win64.deb>
+- **Linux x64:** <https://www.cepton.com/downloads/cepton_sdk/latest/linux-x86_64/cepton_sdk-linux-x86_64.deb>
+- **Mac x64:** <https://www.cepton.com/downloads/cepton_sdk/latest/osx/cepton_sdk-osx.deb>
+
+On Windows, a firewall popup will appear the first time Cepton Viewer is launched. Select "Allow access" for both private and public networks.
+
+### Main Menu
+
+- Hover over menu items to view tooltips.
+- When editing value fields, press `ESC` to undo new value and `ENTER` to accept new value.
+
+### Camera Controls
+
+| Command        | Mouse     |
+| -------------- | --------- |
+| Rotate View    | `LButton` |
+| Translate View | `RButton` |
+| Zoom View      | `MButton` |
+
+### Workflows
+
+#### Open Capture
+
+- Drag and drop capture file/folder onto the main window.
+
+`OR`
+
+- Switch to `General` tab.
+- Select `Capture` -> `Load Capture`.
+
+#### Save Capture
+
+- Switch to `General` tab.
+- Select `Capture` -> `Start Capture`.
+- Wait for desired duration.
+- Select `Capture` -> `Stop Capture`.
+
+The capture is saved in `~/Media/CeptonViewer`.
+
+#### Take Screenshot
+
+- Switch to `General` tab.
+- Select `Tools` -> `Screenshot`.
+
+The screenshot is saved in `~/Media/CeptonViewer`.
+
+### Update Sensor Transforms/Clips
+
+- Switch to `Settings` tab.
+- For each sensor, update the transforms/clips.
+- Select `File` -> `Save`/`Save As...`.
+
+### Keyboard Shortcuts
+
+#### GUI
+
+| Command  | Key   |
+| -------- | ----- |
+| Help     | `F1`  |
+| Hide GUI | `F11` |
+
+#### Replay
+
+| Command      | Key     |
+| ------------ | ------- |
+| Pause/Resume | `SPACE` |
+
+#### View
+
+| Command           | Key |
+| ----------------- | --- |
+| Reset View Origin | `O` |
+| Front View        | `1` |
+| Top View          | `2` |
+| Side View         | `3` |

docs/_sources/index.rst.txt

@@ -8,6 +8,17 @@ Cepton SDK
   building
   samples
   internal
+  legal
+
+Tools
+-----
+
+.. toctree::
+  :maxdepth: 1
+
+  cepton_viewer
+  cepton_player
+  cepton_export
 
 
 API Reference

docs/_sources/internal.rst.txt

@@ -56,5 +56,5 @@ Minimal SDK
 If desired, the following SDK features can be disabled in the SDK and performed manually by the user:
 
 - Capture Replay: :doc:`samples/replay`.
-- Frame Accumulation: :doc:`samples/frame`.
+- Frame Accumulation: :doc:`samples/frame_accumulator`.
 - Networking: :doc:`samples/network`.

docs/_sources/legal.md.txt

@@ -0,0 +1,5 @@
+# Legal
+
+"Cepton", "MMT", "Vista", "Vista-Edge" and "Helius" are all registered trademarks of Cepton Technologies, Inc., and may not be used without express permission from Cepton.
+
+Your use of the Cepton products is subject to the Terms of Sale signed between you and Cepton or authorized distributor/integrator. It is prohibited by the terms to remove or open the product housing, inspect the internal of the product, reverse-engineer any part of the product, or permit any third party to do any of the foregoing. Please contact <info@cepton.com> if you have any questions.

docs/_sources/overview.rst.txt

@@ -27,7 +27,7 @@ For prototyping, it is recommended to use the high level C++ API. The C++ API al
 The general C SDK workflow is as follows: 
 
 1. Initialize SDK (:any:`cepton_sdk_initialize()`). See :doc:`setup`.
-2. Register point listener function (:any:`cepton_sdk_listen_image_frames`). See :doc:`points`. 
+2. Register point listener callback function (:any:`cepton_sdk_listen_image_frames`). See :doc:`points`. 
 3. Wait for sensor calibration/information packets, then query sensors. See :doc:`sensors`.
 4. Sleep or run replay. Callbacks will occur asynchronously.
 5. Deinitialize SDK.

docs/_sources/samples.rst.txt

@@ -24,10 +24,11 @@ Advanced
 .. toctree::
   :maxdepth: 1
 
-  samples/frame
+  samples/frame_accumulator
+  samples/frame_detector
   samples/network
   samples/organize_points
   samples/process_multi
   samples/process_single
   samples/replay
-  samples/stray
+  samples/stray_filter

docs/_sources/samples/frame_accumulator.rst.txt

@@ -0,0 +1,7 @@
+Frame Detector
+==============
+
+.. literalinclude:: ../../../samples/advanced/frame_detector.cpp
+  :language: c
+  :linenos:
+  :caption: samples/advanced/frame_detector.cpp

docs/_sources/samples/frame_detector.rst.txt

@@ -0,0 +1,7 @@
+Frame Accumulator
+=================
+
+.. literalinclude:: ../../../samples/advanced/frame_accumulator.cpp
+  :language: c
+  :linenos:
+  :caption: samples/advanced/frame_accumulator.cpp

docs/_sources/samples/stray_filter.rst.txt

@@ -0,0 +1,7 @@
+Stray Filter
+============
+
+.. literalinclude:: ../../../samples/advanced/stray_filter.cpp
+  :language: c
+  :linenos:
+  :caption: samples/advanced/stray_filter.cpp

docs/_sources/sensors.rst.txt

@@ -16,7 +16,7 @@ Types
 Methods
 -------
 
-.. doxygenfunction:: cepton_is_vista
+.. doxygenfunction:: cepton_is_sora
 .. doxygenfunction:: cepton_is_hr80
 .. doxygenfunction:: cepton_is_vista