Matlab compiler problem/error

Emanuele Cordioli

2019 1 25

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Hi guys.

I have a problem with a function compiled for a .NET application.

With MATLAB R2018b I execute the function with no problems.

But if I compile it I have a problem: at execution time when I call the function, I get this error:

... MWMCR::EvaluateFunction error ... 
Undefined function or variable 'vision.internal.Kdtree'.
Error in => calculateICP_angles.m at line 12.

The function:

function angles = calculateICP_angles(model, object)
    objectPC = pointCloud(object); %conversion in pointCloud Object
    modelPC = pointCloud(model);   %conversion in pointCloud Object
    
    %objectPC = pcdenoise(objectPC);
    %modelPC = pcdenoise(modelPC);
    objectPC = pcdownsample(objectPC, 'random', 0.1);
    modelPC = pcdownsample(modelPC, 'random', 0.1);
    
    transformation = pcregistericp(objectPC, modelPC);
    
    rotationMatrix = transformation.T(1:3,1:3);
    
    angles = rotm2eul(rotationMatrix);
    
    angles = rad2deg(angles);
end