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Simulink for PCV (Point Cloud Viewer)



12 Jun 2012 (Updated )

Simulink for PCV is a block for 3D Point Cloud View and wrapped native OpenCV library.

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Simulink for PCV allows users to reconstruct a 3D view from multiple point cloud data generated from Simulink for NID. Simulink for PCV wraps OpenCV to enable to stitch over a million point cloud data such as 3D panorama view (and potentially SLAM view) with faster performance.

[Required software]
- OpenCV 2.3.1 for Windows 32bit/64bit (http://sourceforge.net/projects/opencvlibrary/files/opencv-win/2.3.1/OpenCV-2.3.1-win-superpack.exe/download)
- 32bit/64bit version of MATLAB R2011b or later
- Simulink for NID (http://www.mathworks.com/matlabcentral/fileexchange/32318-simulink-for-natural-interaction-device-nid)

[Optional software]
- Computer Vision System Toolbox (highly recommended)


Kinect Matlab, Kinect Microsoft Sdk, and Simulink Support For Kinect inspired this file.

Required Products Simulink
MATLAB release MATLAB 7.13 (R2011b)
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Comments and Ratings (10)
23 Oct 2013 Takashi Chikamasa

Hi German,

It seems that you have not set Windows environment path to OpenCV installed directory, and then it causes the "...module could not be found" error.
Please check the step 4 in installation chapter of Simulink_for_PCV_En.pdf.

14 Oct 2013 Germán Malpede

This is a superb material, is a step forward for the entire developers community. I appreciate a lot.

In my system:


All files type: nid_csst_ocv_xxxxx_xxxxxxx.mdl
error (Invalid >MEX-file '...\Lib\sfun_pcv.mexw64': The >specified module could not be found).
Openni path ok (please see below)

setup_opencv.m: ran ok
setup_kinectsdk.m: ran ok
makecmexfile4pcv.m: ran ok
makecmexfile4nid.m: ran ok
setup_openni.m: doesn't ran. Error using setup_openni>GuiBasedSetUp (line 210)
ERROR: OpenNI might not be installed or version mismatch.

Error in setup_openni (line 51)
[openNI_dir] = GuiBasedSetUp();

HW &SW installed:
Opencv path: C:\opencv\build\x64\vc10\bin
Windows 7, 64 bits
Matlab 2013a
Kinect for windows SDK 1.8
Microsf Visual Studio Express 2012
Microsoft SDK for windows 7.1

12 Jul 2013 Takashi Chikamasa

How to solve the error (Invalid >MEX-file '...\Lib\sfun_pcv.mexw64': The >specified module could not be found)

It needs to set Windows path (not MATLAB path) to the folder which OpenCV dll stored.
- In case of 32bit version of MATLAB R2011b or later,
set path to e.g. C:\opencv\build\x86\vc10\bin

-In case of 64bit version of MATLAB R2011b or later,
set path to e.g. C:\opencv\build\x64\vc10\bin

11 Feb 2013 Mehwish

Hi Takashi,
I'm getting the same error (Invalid >MEX-file '...\Lib\sfun_pcv.mexw64': The >specified module could not be found). Have you had a chance to fix the error yet? If yes, looking forward to how I can fix it as well.

Also, if I wanted to add a 'Video to Workspace' block after the Pointcloud block, would it be possible? There isn't a output port. Is there a way to extract the XYZ data?

19 Nov 2012 Takashi Chikamasa

The latest 0.2.0 runs on 32bit and 64bit of MATLAB!, actually, 64bit seems to be faster than the other.

20 Jun 2012 Takashi Chikamasa

Hi Anas,

>but the model is not running (Invalid >MEX-file '...\Lib\sfun_pcv.mexw64': The >specified module could not be found.)
Yes, I have exact same error. It seems that .dll loading was failed. I need to do some investigation to fix the error.

20 Jun 2012 Tharindu

Another good one Takashi!

20 Jun 2012 Anas

hi Takashi,
I also tried to do the compilation with the 64-bit version of OpenCV. After some changes to the mex statement, the compilation finished successfully but the model is not running (Invalid MEX-file '...\Lib\sfun_pcv.mexw64': The specified module could not be found.)

19 Jun 2012 Takashi Chikamasa

Hi Anas,

Install 32bit version of MATLAB and OpenCV on 64-bit Windows.
I tried 64-bit version of OpenCV (e.g. 2.4.1), but some errors occurred during mex and simulation. Sorry for this restriction.

18 Jun 2012 Anas

What should i do in order tom make it run on 64-bit windows?

12 Jun 2012

Added copyright.

13 Nov 2012

What's new in 0.2.0
- Support 32bit/64bit MATLAB R2011b or later
- Changed OpenCV version to 2.3.1

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