www.gusucode.com > IPCV_Eval_Kit_R2019a_0ce6858工具箱matlab程序源码 > IPCV_Eval_Kit_R2019a_0ce6858/code/demo_files/I4_10_1_velodyneFileReader.m

    %% Velodyne LiDAR PCAP(Point Capture)僼傽僀儖偺撉傒崬傒

%% 弶婜壔
clear; close all; clc;

%% Velodyne PCAP偺僼傽僀儖儕乕僟乕傪掕媊
veloReader = velodyneFileReader('lidarData_ConstructionRoad.pcap','HDL32E');

%% 億僀儞僩僋儔僂僪僾儗僀儎乕傪愝掕

% 昞帵斖埻傪愝掕
xlimits = [-60 60];
ylimits = [-60 60];
zlimits = [-20 20];

player = pcplayer(xlimits,ylimits,zlimits);

% 幉偺儔儀儖
xlabel(player.Axes,'X (m)');
ylabel(player.Axes,'Y (m)');
zlabel(player.Axes,'Z (m)');

%% 揰孮傪撉傒弌偟側偑傜昞帵

% 撉傒弌偟帪崗傪愝掕
veloReader.CurrentTime = veloReader.StartTime + seconds(0.3); 
while(hasFrame(veloReader) && player.isOpen() && (veloReader.CurrentTime < veloReader.StartTime + seconds(10)))
    % 揰孮撉傒弌偟
    ptCloudObj = readFrame(veloReader);
    
    % 揰孮昞帵
    view(player,ptCloudObj.Location,ptCloudObj.Intensity);
    
    % 0.1昩懸婡(傛傝尩枾偵昞帵傪偟偨偄応崌偼fixed rate偱timer傪巊梡偡傞偙偲)
    pause(0.1);
end

%%
% Copyright 2018 The MathWorks, Inc.