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)