Read Sensor Messages from IDC file

Create an ibeoFileReader object, ibeoReader, to read the message headers from an IDC file. Replace the placeholder argument sample_data.idc with the name of your IDC file as sample_data.idc file is not provided with the toolbox.

ibeoReader = ibeoFileReader('sample_data.idc')

ibeoReader =
 
  ibeoFileReader with properties:
 
       FileName: "C:/Documents/MATLAB/ibeo_data/sample_data.idc"
      StartTime: 15-Mar-2020 11:21:04.999434999
        EndTime: 15-Mar-2020 11:25:35.030095000
       Duration: 00:04:30
    FileSummary: CAN             53    msgs [0x1002]
                 scan            53    msgs [0x2205]
                 object          106   msgs [0x2281]
                 image           53    msgs [0x2403]
                 vehicleState    53    msgs [0x2808]
                 measurementList 53    msgs [0x2821]
                 pointCloudPlane 53    msgs [0x7510]
                 unsupported     53    msgs [0x6120]
                 unsupported     53    msgs [0x6970]

Create two ibeoMessageReader objects, imgReader and objReader, to read all image and object detection messages in the first 2 minutes, respectively, by using the select function with appropriate message type and time range values.

timeRange = [0 minutes(2)];
imgReader = select(ibeoReader,'image',timeRange);
objReader = select(ibeoReader,'object',timeRange);

Read the first 10 images and all object detection messages in the first 2 minutes, by using the readMessages function on the respective ibeoMessageReader objects with appropriate indices and timeRange arguments. Reading object detection messages returns both online objects and postprocessed objects along with their metadata.

imgs = readMessages(imgReader,1:10);
[rawObjs,procObjs,rawMetadata,procMetadata] = readMessages(objReader);