pcl_mex

Example of using the pcl library inside matlab via mex.

Building

Linux

Tested under Archlinux

Inside Matlab

mex -v pcl_transform.cpp pcl_mex_conversions.cpp ...
    -L/usr/lib/ ...
    -lpcl_common ...
    -lpcl_registration ...
    -lpcl_filters ...
    -lflann_cpp ...
    -lpcl_kdtree ...
    -lpcl_search ...
    -I/usr/include/pcl-1.7/pcl/ ...
    -I/usr/include/pcl-1.7/ ...
    -I/usr/include/eigen3/ ...
    -I/usr/include/

NOTE: the matlab startup script modifies LD_LIBRAY_PATH which leads to an old version of glibc being used. This can be circumvented with ONE of the following measures:

1. (using bash) run matlab with: LD_PRELOAD="/usr/lib/libstdc++.so.6" matlab
2. symlink library in $MATLABROOT/TODO to the system library

Windows

Tested under Win10

Download and install the PCL 1.6.0 All-in-on installer, which includes the pcl libraries and all needed dependencies.

Inside Matlab

mex -v pcl_transform.cpp pcl_mex_conversions.cpp ...
    -L"C:\Program Files\PCL 1.6.0\lib" ...
    -lpcl_common_release ...
    -I"C:\Program Files\PCL 1.6.0\include\pcl-1.6" ...
    -I"C:\Program Files\PCL 1.6.0\include\pcl-1.6\pcl" ...
    -I"C:\Program Files\PCL 1.6.0\3rdParty\Eigen\include" ...
    -I"C:\Program Files\PCL 1.6.0\3rdParty\Boost\include"

Visual Studio

• open the solution file pcl_mex_visual_studio/pcl_mex_visual_studio.sln
• the path to Matlab/PCL can be adjusted in the Property Manager -> matlab/pcl -> User Macros
• alternatively you can edit the files pcl.props and matlab.props directly
• a post build step will copy the built mex file to pcl_mex_visual_studio/../pcl_mex_transform.mexw64

Usage

See pcl.m for examples.