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File I/O

Read and visualize automotive data from external sources

Automated Driving Toolbox™ provides several features to read and visualize automotive data from various third-party files. There is a wide variety of file formats available in the industry, which store automotive data in different formats. Automotive data includes data from sensors such as lidars, IMUs, cameras as well as vehicle state information, CAN messages and any other custom measurements.

威力登®lidars store point cloud data in packet capture (PCAP) files. Point clouds are also stored in PLY or PCD files. Ibeo®sensors, which are developed byIbeo Automotive Systems, createIbeo data containerfiles that can contain data for multiple sensors simultaneously, such as IMU, GPS, camera, and lidar. ADTF (Automotive Data and Time-Triggered Framework) is a data format developed by Elelktrobit that can also store data from multiple automotive sensors simultaneously. HERE HD Live Map (HERE HDLM) is a web service that provides high-definition map data for automated driving applications.

Automated Driving Toolbox supports reading and visualizing data from all the file formats above. Other file formats may require additional toolbox licenses.

Functions

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adtfFileReader Read stream information from ADTF DAT file
select Create reader for selected subset of ADTF DAT file data
adtfStreamReader 流读者ADTF DAT文件
read Read all data items from ADTF DAT file selection
readNext Read next available data item from each stream of ADTF DAT file selection
hasNext Check if the ADTF DAT file selection has next data
reset Reset stream reader to first data item in ADTF DAT file selection
ibeoFileReader Read message headers fromIbeoData Container (IDC) file
select Select subset of messages to read fromIbeoData Container (IDC) file
ibeoMessageReader Object for reading message content fromIbeoData Container (IDC) file
readMessages 阅读信息IbeoData Container (IDC) file selection
readNextMessage Read next message fromIbeoData Container (IDC) file selection
hasNextMessage Check ifIbeoData Container (IDC) file selection has next message
reset Reset to first message inIbeoData Container (IDC) file selection
velodyneFileReader Read point cloud data from威力登PCAP file
hasFrame Determine if another威力登point cloud is available
readFrame Read威力登point cloud from file
reset Reset theCurrentTimeproperty ofvelodyneFileReaderobject to the default value
pcread Read 3-D point cloud from PLY or PCD file
pcwrite Write 3-D point cloud to PLY or PCD file
hereHDLMReader HERE HD Live Map reader
read Read HERE HD Live Map layer data
hereHDLMConfiguration Configure HERE HD Live Map reader
hereHDLMCredentials Set up or delete HERE HD Live Map credentials
rosbag Open and parse rosbag log file
readMessages 阅读信息rosbag
rosbagreader Access rosbag log file information
rosbagwriter Create and write logs to rosbag log file
write Write logs to rosbag log file
select Select subset of messages in rosbag
timeseries Create time series object for selected message properties
lasFileReader LAS or LAZ file reader

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