% xyz format:
% cx cy cz nx ny nz
function [pnts, norms] = read_xyz(file)
    if ~exist(file,'file')
        error(['File ''%s'' not found. If the file is not on MATLAB''s path' ...
               ', be sure to specify the full path to the file.'], file);
    end
    
    fid = fopen(file,'r');    
    if ~isempty(ferror(fid))
        error(lasterror); %#ok
    end
    
    fileID = fopen(file,'r');
    tmp = fscanf(fileID,'%f');
    fclose(fid);

    xyz = reshape(tmp,6,[]);
    xyz = xyz';
    
    pnts = xyz(:,1:3);
    norms = xyz(:,4:6);
end