How to extract xyz coordinates from 3D point cloud in MATLAB -

i using kinect windows import 3d images matlab. want able find 3d co-ordinates of objects within 3d scene.

one simple way use clicka3dpoint function found here, , click point want know co-ordinates of.

the problem clicka3dpoint expects arguments in 3 n matrix, x y , z coordinates of n samples. when use kinect point cloud depthtopointcloud returns 480 * 640 * 3 matrix.

how can extract x, y, , z coordinates matrix can plot clicka3dpoint? (or scatter3?)

my attempt far:

depthdevice = imaq.videodevice('kinect',2)  %this kinect depth sensor  depthimage = step(depthdevice);  %this takes depth image. (a 480 * 640 uint16 array)  xyzpoints = depthtopointcloud(depthimage,depthdevice); %convert depth image point cloud  clicka3dpoint(reshape(xyzpoints,[3,307200])) %i'm guessing each of 480 * 640 points (307200 points) has x,y , z coordinate, concates coordinates of these points. 

but plots points along diagonal line in 3d space. how extract x, y , z coordinates point cloud in matlab?

you can use pcshow function plot points, , take m-by-n-by-3 array directly. can turn on data tips , click on points in plot see coordinates.

if still want create 3-by-n matrix, easiest way following:

x = xyzpoints(:,:,1); y = xyzpoints(:,:,2); z = zyzpoints(:,:,3); points3d = [x(:)'; y(:)', z(:)'];