Create avelodyneFileReaderobject to read a Velodyne® packet capture (PCAP) file and select specific point clouds using adurationscalar.

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 adurationscalar 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 usingpcshow.

figure pcshow(ptCloudObj)