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Merged
willlauer merged 4 commits into from
Jul 28, 2025
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3.0.17.14 #2

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1f58264
Update SDK binary to 3.0.17.14
willlauer Jul 28, 2025
4ad5da9
Switch to only pyproject
willlauer Jul 28, 2025
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willlauer Jul 28, 2025
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willlauer Jul 28, 2025
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2 changes: 1 addition & 1 deletion LICENSE
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@@ -1 +1 @@
Copyright Cepton Technologies 2020-2021. All rights reserved.
Copyright Cepton Technologies 2020-2025. All rights reserved.
2 changes: 1 addition & 1 deletion README.md
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@@ -1 +1 @@
# Cepton Python SDK3 wrapper
# Cepton Python SDK3
2 changes: 1 addition & 1 deletion cepton_sdk3/__init__.py
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@@ -1,2 +1,2 @@
from .sdk import *
from .frame import Frame
from .frame import Frame
2 changes: 1 addition & 1 deletion cepton_sdk3/c.py
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Expand Up @@ -32,7 +32,7 @@ def c_struct_to_dict(c_obj, excludes):


def _load_sdk():
name = "cepton_sdk2" # FIXME: the SDK build still calls this sdk2
name = "cepton_sdk3"

# Find platform
mach = platform.machine()
Expand Down
262 changes: 0 additions & 262 deletions cepton_sdk3/frame.py
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Expand Up @@ -2,268 +2,6 @@

from .soa import StructureOfArrays

reflectivity_LUT = np.array(
[ # reflectivity look up table
0.000,
0.010,
0.020,
0.030,
0.040,
0.050,
0.060,
0.070,
0.080,
0.090,
0.100,
0.110,
0.120,
0.130,
0.140,
0.150,
0.160,
0.170,
0.180,
0.190,
0.200,
0.210,
0.220,
0.230,
0.240,
0.250,
0.260,
0.270,
0.280,
0.290,
0.300,
0.310,
0.320,
0.330,
0.340,
0.350,
0.360,
0.370,
0.380,
0.390,
0.400,
0.410,
0.420,
0.430,
0.440,
0.450,
0.460,
0.470,
0.480,
0.490,
0.500,
0.510,
0.520,
0.530,
0.540,
0.550,
0.560,
0.570,
0.580,
0.590,
0.600,
0.610,
0.620,
0.630,
0.640,
0.650,
0.660,
0.670,
0.680,
0.690,
0.700,
0.710,
0.720,
0.730,
0.740,
0.750,
0.760,
0.770,
0.780,
0.790,
0.800,
0.810,
0.820,
0.830,
0.840,
0.850,
0.860,
0.870,
0.880,
0.890,
0.900,
0.910,
0.920,
0.930,
0.940,
0.950,
0.960,
0.970,
0.980,
0.990,
1.000,
1.010,
1.020,
1.030,
1.040,
1.050,
1.060,
1.070,
1.080,
1.090,
1.100,
1.110,
1.120,
1.130,
1.140,
1.150,
1.160,
1.170,
1.180,
1.190,
1.200,
1.210,
1.220,
1.230,
1.240,
1.250,
1.260,
1.270,
1.307,
1.345,
1.384,
1.424,
1.466,
1.509,
1.553,
1.598,
1.644,
1.692,
1.741,
1.792,
1.844,
1.898,
1.953,
2.010,
2.069,
2.129,
2.191,
2.254,
2.320,
2.388,
2.457,
2.529,
2.602,
2.678,
2.756,
2.836,
2.919,
3.004,
3.091,
3.181,
3.274,
3.369,
3.467,
3.568,
3.672,
3.779,
3.889,
4.002,
4.119,
4.239,
4.362,
4.489,
4.620,
4.754,
4.892,
5.035,
5.181,
5.332,
5.488,
5.647,
5.812,
5.981,
6.155,
6.334,
6.519,
6.708,
6.904,
7.105,
7.311,
7.524,
7.743,
7.969,
8.201,
8.439,
8.685,
8.938,
9.198,
9.466,
9.741,
10.025,
10.317,
10.617,
10.926,
11.244,
11.572,
11.909,
12.255,
12.612,
12.979,
13.357,
13.746,
14.146,
14.558,
14.982,
15.418,
15.866,
16.328,
16.804,
17.293,
17.796,
18.314,
18.848,
19.396,
19.961,
20.542,
21.140,
21.755,
22.389,
23.040,
23.711,
24.401,
25.112,
25.843,
26.595,
27.369,
28.166,
28.986,
29.830,
30.698,
31.592,
32.511,
33.458,
34.432,
35.434,
36.466,
37.527,
38.620,
39.744,
40.901,
42.092,
43.317,
44.578,
45.876,
47.211,
48.586,
50.000,
],
dtype=np.float32,
)

# SDK position units -> meters conversion
UNITS_TO_METERS = 1.0 / 65536.0

Expand Down
Binary file renamed ...on_sdk3/lib/linux-arm64/libcepton_sdk2.so → ...on_sdk3/lib/linux-arm64/libcepton_sdk3.so
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Binary file renamed cepton_sdk3/lib/linux-x64/libcepton_sdk2.so → cepton_sdk3/lib/linux-x64/libcepton_sdk3.so
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Binary file renamed cepton_sdk3/lib/win-x64/cepton_sdk2.dll → cepton_sdk3/lib/win-x64/cepton_sdk3.dll
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Binary file renamed cepton_sdk3/lib/win-x64/cepton_sdk2.dll.lib → cepton_sdk3/lib/win-x64/cepton_sdk3.dll.lib
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20 changes: 11 additions & 9 deletions cepton_sdk3/soa.py
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@@ -1,5 +1,6 @@
import numpy


class StructureOfArrays:
"""
Group multiple arrays together and allow operations on all arrays
Expand Down Expand Up @@ -47,14 +48,16 @@ def __setattr__(self, name, value):
if name not in self._get_array_member_names():
# Check member
raise AttributeError(
"Member `" + name + "` not listed in `_get_array_member_names`!")
"Member `" + name + "` not listed in `_get_array_member_names`!"
)
return super().__setattr__(name, value)

@classmethod
def get_common_names(cls, other):
"""Returns array member names common to both classes."""
return list(set(cls._get_array_member_names()) &
set(other._get_array_member_names()))
return list(
set(cls._get_array_member_names()) & set(other._get_array_member_names())
)

def update(self, other, names=None):
"""Copy fields from other."""
Expand All @@ -77,7 +80,7 @@ def _get_indices(self, key):

def __getitem__(self, key):
"""Supports numpy style indexing as if object were 1-d array."""
assert (not isinstance(key, tuple)), "Key must be 1-d."
assert not isinstance(key, tuple), "Key must be 1-d."

cls = type(self)
result = cls(numpy.arange(len(self))[key].size)
Expand All @@ -88,7 +91,7 @@ def __getitem__(self, key):

def __setitem__(self, key, other):
"""Supports numpy style assignment as if object were 1-d array."""
assert (not isinstance(key, tuple)), "Key must be 1-d."
assert not isinstance(key, tuple), "Key must be 1-d."

names = self.get_common_names(other)
for name in names:
Expand All @@ -99,8 +102,8 @@ def assign(self, key, other, other_key):
Equivalent to
self[key] = other[other_key]
"""
assert (not isinstance(key, tuple)), "Key must be 1-d."
assert (not isinstance(other_key, tuple)), "Key must be 1-d."
assert not isinstance(key, tuple), "Key must be 1-d."
assert not isinstance(other_key, tuple), "Key must be 1-d."

names = self.get_common_names(other)
for name in names:
Expand All @@ -120,7 +123,6 @@ def combine(cls, other_list):
offset = 0
for i in range(len(other_list)):
other = other_list[i]
self[offset:offset + len(other)] = other
self[offset : offset + len(other)] = other
offset += len(other)
return self

23 changes: 21 additions & 2 deletions pyproject.toml
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@@ -1,3 +1,22 @@
[build-system]
requires = ["setuptools>=40.8.0", "wheel"]
build-backend = "setuptools.build_meta"
requires = ["hatchling >= 1.26"]
build-backend = "hatchling.build"


[project]
name = "cepton-sdk3"
version = "3.0.17.14"

dependencies = ["numpy>=1.21"]
authors = [
{ name = "Will Lauer", email = "will.lauer@cepton.com" },
{ name = "Dongyi Liao", email = "dongyi.liao@cepton.com" },
]

maintainers = [{ name = "Will Lauer", email = "will.lauer@cepton.com" }]

description = "Cepton SDK3"
readme = "README.md"

license = "MIT"
license-files = ["LICENSE"]
6 changes: 0 additions & 6 deletions setup.cfg
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