Automatic extraction of artificial structures using LiDAR points cloud data

How can I select 3 points in a LiDAR points cloud, calculate the distance inliers concerning cosine of their angles, delete outliers from the region of interest, export activated points to file?

How can I fit a plane to a point cloud that has a specified maximum angular distance and shows figures?

Attached is my code but I don't know where I am getting it all wrong.

Error using pcfitplane

The value of 'referenceVector' is invalid. Expected reference Vector to be one of these types:

single, double

Error in vision.internal.ransac.validateAndParseRansacInputs (line 31)

parser.parse(varargin{:});

Error in pcfitplane (line 118)

vision.internal.ransac.validateAndParseRansacInputs(mfilename, true, varargin{:});

Does someone have any idea?

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