hasFrame

Determine if another Velodyne point cloud is available

Syntax

isAvailable = hasFrame(veloReader)

Description

isAvailable = hasFrame(veloReader) determines if another point cloud is available in the packet capture (PCAP) file of the input Velodyne^® file reader. As you read point clouds using readFrame, the point clouds are read sequentially until this function returns false.

Examples

Check for Next Point Cloud in Velodyne PCAP File

Create a velodyneFileReader object to read a Velodyne® packet capture (PCAP) file and check for available frames using hasFrame.

Read in a point cloud by using a Velodyne® file reader. Specify the PCAP file to be read and Velodyne® device model.

veloReader = velodyneFileReader('lidarData_ConstructionRoad.pcap','HDL32E');

Check if the file reader has a point cloud to read.

disp(hasFrame(veloReader));

   1

Read the last frame of the file.

ptCloudObj = readFrame(veloReader,veloReader.NumberOfFrames);

Check again if the file reader has another point cloud available.

disp(hasFrame(veloReader));

   0

Input Arguments

veloReader — Velodyne file reader

velodyneFileReader object

Velodyne file reader, specified as a velodyneFileReader object.

Output Arguments

isAvailable — Indicator if frame is available

true | false

Indicator if frame is available, returned as true or false.

Version History

Introduced in R2018a