C++¶

High level C++ API for prototyping (cepton_sdk.hpp, cepton_sdk_api.hpp). Methods are agnostic to live/replay mode.

bool cepton_sdk::api::is_live()¶: Returns whether capture replay is not open.

bool cepton_sdk::api::is_end()¶: Returns whether capture replay is at the end and enable loop is false.

int64_t cepton_sdk::api::get_time()¶: Returns live or capture replay time.

SensorError cepton_sdk::api::wait(float t_length = -1.0f)¶

Sleeps or resumes capture replay for duration.

If t_length < 0, then waits forever.

Errors¶

CEPTON_PROCESS_ERROR(code)¶: Add context to error.

CEPTON_CHECK_ERROR(code)¶: If error, raise.

CEPTON_LOG_ERROR(code)¶: If error, print.

CEPTON_RETURN_ERROR(code)¶: If error, return.

Setup¶

SensorError cepton_sdk::api::initialize(Options options = create_options(), const std::string &capture_path = "", bool enable_wait = false)¶

Initialize SDK and optionally starts capture replay.

If enable_wait is true, waits a few seconds to initialize sensors.

SensorError cepton_sdk::api::open_replay(const std::string &capture_path, bool enable_wait = false)¶

Opens capture replay.

If enable_wait is true, replays a few seconds to intialize sensors.

bool cepton_sdk::api::has_control_flags(Control mask)¶: Returns whether indicated control flags are set.

SensorError cepton_sdk::api::enable_control_flags(Control mask, bool tf)¶: Enables/disables indicated control flags.

class cepton_sdk::api::SensorErrorCallback : public cepton_sdk::util::Callback<SensorHandle, const SensorError&>¶

Callback for sensor errors.

Public Static Functions

void global_on_callback(SensorHandle handle, SensorErrorCode error_code, const char *error_msg, const void *const error_data, size_t error_data_size, void *const instance)¶

class cepton_sdk::api::SensorImageFrameCallback : public cepton_sdk::util::Callback<SensorHandle, std::size_t, const SensorImagePoint*>¶

Callback for image frames.

Must call initialize before use.

Public Functions

~SensorImageFrameCallback()¶: SensorImageFrameCallback class destructor.

SensorError initialize()¶: Initializes SensorImageFrameCallback object.

SensorError deinitialize()¶: Deinitializes SensorImageFrameCallback object.

bool is_initialized() const¶: Returns true if SensorImageFrameCallback is initialized.

Sensors¶

bool cepton_sdk::api::has_sensor_by_serial_number(uint64_t serial_number)¶: Returns whether SDK has sensor with serial number.

SensorError cepton_sdk::api::get_sensor_information_by_serial_number(uint64_t serial_number, SensorInformation &info)¶

Returns sensor information by serial number.

Returns error if sensor not found.

std::vector<uint64_t> cepton_sdk::api::get_sensor_serial_numbers()¶: Returns serial numbers for all sensors.