A simple interface to MATLAB is available at
It includes pure MATLAB code to read and write unorganized point clouds as PCD files and a wrapper function for point cloud visualization that writes the MATLAB data to a temporary file and sets pcl_viewer loose on it. Using files is inelegant and inefficient, but we sidestep the whole problem of trying to create MEX files linked to PCL.
This is a work in progress and things to add are writing binary PCD; reading/writing binary_compressed formatted files; handling organized data.
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