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.