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readFrame

Read Velodyne point cloud from file

Description

ptCloud = readFrame(veloReader) reads the next point cloud in sequence from the Velodyne® PCAP file and returns a pointCloud object.

ptCloud = readFrame(veloReader,frameNumber) reads the point cloud with the specific frame number from the file.

example

ptCloud = readFrame(veloReader,frameTime) reads the first point cloud recorded at or after the given frameTime.

Examples

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Create a velodyneFileReader object to read a Velodyne® packet capture (PCAP) file and select specific point clouds using a duration scalar.

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');

Create a 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 pcshow.

figure
pcshow(ptCloudObj)

Input Arguments

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Velodyne file reader, specified as a velodyneFileReader object.

Frame number of the desired point cloud in file, specified as a positive integer. Frame numbers are sequential.

Frame time of the desired point cloud in the file, specified as a duration scalar in seconds. The first frame available at or after frameTime is given.

Output Arguments

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Point cloud, returned as a pointCloud object.

Introduced in R2018a