def convert_matrix_to_pc(numpy_pc):
    """Coverts a numpy matrix to a point cloud (useful for plotting).

    Inputs:
        numpy_pc - a 3 by n numpy matrix where each column is a point.
    outputs:
        pc - a list of 3 by 1 numpy matrices.

    """
    pc = []

    for i in range(0,numpy_pc.shape[1]):
        pc.append((numpy_pc[0:3,i]))

    return pc