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surface_matching: how to create custom point cloud

i am working of the surface_matching example here: http://docs.opencv.org/trunk/d9/d25/group__surface__matching.html#gsc.tab=0

it loads two ply files in to a mat.

but i would like to read my own data in to the mat. what format would the data have to be so that it works just like the ply file?

i have a whole bunch of x,y,z points that i get back from a kinect. but i do not use the kinect through opencv but rather through openframeworks.cc

somewhere i read it needs to have the right col and row numbers?

thank you very much for any help.