colors[numpy.logical_not(points.valid), :] = [1, 0, 0, 1]
else:
colors[numpy.logical_not(points.valid), :] = 0
options = {
"edge_width": 0,
"face_color": colors,
"pos": points.positions,
"size": 2,
}
plot_handle.set_data(**options)
if __name__ == "__main__":
parser = argparse.ArgumentParser(usage='%(prog)s [OPTIONS]')
parser.add_argument("--capture_path")
parser.add_argument("--sensor", type=int)
args = parser.parse_args()
options = {}
if args.capture_path is not None:
options["capture_path"] = args.capture_path
cepton_sdk.initialize(**options)
if args.sensor is None:
sensors_dict = cepton_sdk.get_sensors()
serial_number = next(iter(sensors_dict.keys()))
else:
serial_number = args.sensor
Renderer(serial_number).run()
Sample script for getting points from a single sensor.
"""
import pprint
import numpy
import cepton_sdk
import cepton_sdk.plot
from common import *
if __name__ == "__main__":
# Variables
capture_path = get_sample_capture_path()
# Initialize
cepton_sdk.initialize(capture_path=capture_path, enable_wait=True)
# Get sensor
sensor = cepton_sdk.Sensor.create_by_index(0)
pprint.pprint(sensor.information.to_dict())
# Get points
listener = cepton_sdk.SensorFramesListener(sensor.serial_number)
points_list = listener.get_points()
del listener
points = points_list[0]
# Plot
cepton_sdk.plot.plot_points(points)
def main():
description = """
Exports Cepton LiDAR points from live sensors or a capture file.
By default, exports frames to individual files.
- Export single frame from capture `lidar.pcap` to CSV files in directory `points`:
python3 cepton_export --capture_path lidar.pcap --format CSV points
- Export all data from capture `lidar.pcap` to CSV files in directory `points`:
python3 cepton_export --capture_path lidar.pcap --format CSV --duration -1 points
"""
parser = argparse.ArgumentParser(
usage="%(prog)s [OPTIONS] output_dir", description=description, formatter_class=argparse.RawTextHelpFormatter)
parser.add_argument("output_dir", help="Output directory.")
parser.add_argument("--capture_path", help="Path to PCAP capture file.")
parser.add_argument("--capture_seek", type=float,
help="Capture file seek position [seconds].")
parser.add_argument("--combine", action="store_true",
help="Combine points into single file per sensor.")
parser.add_argument("--duration", default="0",
help="Export duration (if negative, export entire capture file).")
all_file_types = [x.name for x in cepton_sdk.export.PointsFileType]
parser.add_argument("--format", default="LAS", choices=all_file_types,
type=str.upper, help="Output file format.")
parser.add_argument("--version", action="version",
version="cepton_sdk {}".format(cepton_sdk.__version__))
args = parser.parse_args()
file_type = cepton_sdk.export.PointsFileType[args.format]
duration = parse_time_hms(args.duration)
output_dir = fix_path(remove_extension(args.output_dir))
shutil.rmtree(output_dir, ignore_errors=True)
os.makedirs(output_dir)
# Initialize
options = {}
if args.capture_path is not None:
options["capture_path"] = fix_path(args.capture_path)
cepton_sdk.initialize(**options)
if args.capture_seek is not None:
cepton_sdk.capture_replay.seek(args.capture_seek)
listener = cepton_sdk.FramesListener()
if args.combine:
cepton_sdk.wait(duration)
points_dict = listener.get_points()
for serial_number, points_list in points_dict.items():
points = cepton_sdk.combine_points(points_list)
points = process_points(points)
points = filter_points(points)
# Save
path = os.path.join(output_dir, str(serial_number))
cepton_sdk.export.save_points(points, path, file_type=file_type)
else:
t_0 = cepton_sdk.get_time()
i_frame = collections.defaultdict(lambda: 0)
while True:
if duration >= 0:
if (cepton_sdk.get_time() - t_0) > duration:
break
try:
points_dict = listener.get_points()
except:
break
for serial_number, points_list in points_dict.items():
sensor_dir = os.path.join(output_dir, str(serial_number))
if not os.path.isdir(sensor_dir):
os.makedirs(sensor_dir)
for points in points_list:
points = process_points(points)
points = filter_points(points)
# Save
i_frame_tmp = i_frame[serial_number]
i_frame[serial_number] += 1
path = os.path.join(sensor_dir, str(i_frame_tmp))
cepton_sdk.export.save_points(
points, path, file_type=file_type)
#!/usr/bin/env python3
"""
Sample script to list attached sensors.
"""
import argparse
import pprint
import cepton_sdk
from cepton_util.common import *
if __name__ == "__main__":
parser = argparse.ArgumentParser(usage="%(prog)s [OPTIONS]")
parser.add_argument("--capture_path")
parser.add_argument("--version",
action="version",
version="cepton_sdk {}".format(cepton_sdk.__version__))
args = parser.parse_args()
capture_path = fix_path(args.capture_path)
cepton_sdk.initialize(capture_path=capture_path)
if cepton_sdk.is_live():
cepton_sdk.wait(3)
sensors_dict = cepton_sdk.get_sensors()
for sensor in sensors_dict.values():
pprint.pprint(sensor.information.to_dict())
"""
import numpy
import cepton_sdk
from common import *
def on_frame(serial_number, points):
print("Received {} points from sensor {}".format(len(points),
serial_number))
if __name__ == "__main__":
# Initialize
cepton_sdk.initialize(capture_path=get_sample_capture_path())
sensors_dict = cepton_sdk.get_sensors()
sensor = next(iter(sensors_dict.values()))
callback_id = cepton_sdk.listen_frames(on_frame)
cepton_sdk.wait(0.1)
cepton_sdk.unlisten_frames(callback_id)
# Get next frames for all sensors. Wait until data is available.
listener = cepton_sdk.FramesListener()
points_dict = listener.get_points()
del listener
# Get next frames for single sensor. Wait until data is available.
listener = cepton_sdk.SensorFramesListener(sensor.serial_number)
points_list = listener.get_points()