Lscpd() shows the attributes of the PCD files in the current directory This is much much faster for rotating a large point cloud than using a MATLAB 3D plot. Pclviewer() writes a matrix to a temporary file and invokes the pcl_viewer app for visualization. Loadpcd() reads an optionally colored point cloud from a PCD format file (ASCII or binary) and returns a matrix. Savepcd() writes a matrix as an optionally coloured point cloud in an ASCII PCD format file. There are only four user-level functions: Being pure MATLAB avoids all kinds of headaches in trying to link PCL code into MEX files which involves various grief such as versions of compilers and support libraries such as boost. Matpcl is pure MATLAB code that allows interfacing with the Point Cloud Library (PCL) tools by reading and writing PCD format files.
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