Read Velodyne point cloud from file
Read Point Cloud from File Using Time Duration
velodyneFileReader object to read a Velodyne® packet capture (PCAP) file and select specific point clouds using a
Read in point clouds by using a Velodyne® file reader. Specify the PCAP file to read and the Velodyne® device model.
veloReader = velodyneFileReader('lidarData_ConstructionRoad.pcap','HDL32E');
duration scalar that represents three seconds after the first point cloud reading.
timeDuration = veloReader.StartTime + duration(0,0,3,'Format','s');
Read the first point cloud recorded at or after the given time duration.
ptCloudObj = readFrame(veloReader,timeDuration);
Display the point cloud using
veloReader — Velodyne file reader
Velodyne file reader, specified as a
frameNumber — Frame number of desired point cloud in the file
Frame number of the desired point cloud in file, specified as a positive integer. Frame numbers are sequential.
frameTime — Frame time of desired point cloud in file
Frame time of the desired point cloud in the file, specified as a
duration scalar in seconds.
The first frame available at or after