Convert unorganized point cloud (MX3) to organized point cloud (MXNX3)

Hello all, I am wondering if there is a method to convert unorganized point cloud (MX3) to organized point cloud (MXNX3). The PLY format doesn't support organized format. I need to convert it to organized one in order to find the plane using pcfitplane like this method: http://www.mathworks.com/help/vision/ref/pcfitplane.html . Thanks

[carlos Santiago Ovando]

Did you ever find out how to do this? I am running into the same issue.

Answer 1

[Anand]

You do not need to convert a pointCloud to organized form to use the pcfitplane function.

Here is an example:

% Read an unorganized point cloud
ptCloud = pcread('teapot.ply');

% The point cloud is unorganized, since Location property is M-by-3
disp(size(ptCloud.Location))

% Use pcfitplane
maxDistance     = 0.5;
referenceVector = [0 0 1];
model = pcfitplane(ptCloud, maxDistance, referenceVector)

figure
pcshow(ptCloud)
hold on
plot(model)

If you are getting an error, could you please send reproduction steps and the release of MATLAB you are using (use the ver command).