Function similar to bwconncomp, but on 3D point clouds.

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Is there a MATLAB function which does this:
Given a 3D matrix (say, point cloud) two adjacent pixels should be connected if the difference between their depth values is less than a pre-specified threshold. This way, the 3D matrix would consist of several blobs.
If not, kindly let me know how it can be performed. It is probably similar to seed-growing, but it would take a lot of time.

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