function s = h3d_scan_convert_points(s)
	% function s = h3d_scan_convert_points(s)
	%   creates the array of 3d points from s
	%
	% adds the member "p3d" (cells) to s.


	% fix wrong theta
	% s.readings = fliplr(s.readings);
	
	nrays = numel(s.thetas_deg);
	nscans = numel(s.tilt_deg);
	
	if not(size(s.readings, 1) == nscans) || not(size(s.readings, 2) == nrays)
		error('Size mismatch.');
	end
	
	% Counter for valid points
	np = 1;
	s.points = zeros(3, nrays*nscans);
	s.p3d = cell(nscans,nrays);
	s.valid = s.readings > 0;
	
	for k=1:nscans
	for i=1:nrays
		rho = s.readings(k,i);
		
		if s.valid == 0
			continue;
		end

		theta = deg2rad(s.thetas_deg(i));
		tilt = deg2rad(s.tilt_deg(k));
		
		% Find (x,y) in the 2d laser plane:
		% remember x is forward
		% and we rotate around z axis
	
		direction = h3d_scan_tt2dir(tilt, theta);
		p3d = rho * direction;
					
		s.points(:,np) = p3d;
		s.p3d{k,i} = p3d;
		np = np + 1;
	end
	end
	
	s.points = s.points(1:3,1:(np-1));