Construct velodyneFileReader object.

veloReader = velodyneFileReader('lidarData_ConstructionRoad.pcap','PuckLITE');

Inspect the properties of the velodyneFileReader object to know the CurrentTime. The default value of CurrentTime is the value of StartTime.

veloReader

veloReader = 
  velodyneFileReader with properties:

           FileName: '/mathworks/devel/bat/BR2020bd/build/matlab/toolbox/vision/visiondata/lidarData_ConstructionRoad.pcap'
        DeviceModel: 'PuckLITE'
    CalibrationFile: '/mathworks/devel/bat/BR2020bd/build/matlab/toolbox/shared/pointclouds/utilities/velodyneFileReaderConfiguration/PuckLITE.xml'
     NumberOfFrames: 1238
           Duration: 61.845 sec
          StartTime: 1145.1 sec
            EndTime: 1206.9 sec
         Timestamps: [1x1238 duration]
        CurrentTime: 1145.1 sec

Use readFrame to read a pointcloud sequence from the object veloReader. Specify frame number corresponding to the pointcloud sequence as 1000.

ptCloud = readFrame(veloReader,1000);

Inspect the CurrentTime property of velodyneFileReader object. The value of CurrentTime is changed to 1195 sec with reference to the pointcloud sequence read.

veloReader.CurrentTime

ans = duration
   1195 sec

Reset the CurrentTime property of velodyneFileReader object.

reset(veloReader)

Inspect the CurrentTime property and verify that its value is reset to the default value.

veloReader.CurrentTime

ans = duration
   1145.1 sec