depth_to_pcl

pointcloud.width = width;
pointcloud.height = height;
pointcloud.points.resize (pointcloud.height * pointcloud.width);

int* depth_data = new int[pointcloud.height * pointcloud.width];
//copy the depth values of every pixel in here

register float constant = 1.0f / 525;
register int centerX = (pointcloud.width >> 1);
int centerY = (pointcloud.height >> 1);
register int depth_idx = 0;
for (int v = -centerY; v < centerY; ++v)
{
        for (register int u = -centerX; u < centerX; ++u, ++depth_idx)
        {
                pcl::PointXYZ& pt = pointcloud.points[depth_idx];
                pt.z = depth_data[depth_idx] * 0.001f;
                pt.x = static_cast<float> (u) * pt.z * constant;
                pt.y = static_cast<float> (v) * pt.z * constant;
        }
}
pointcloud.sensor_origin_.setZero ();
pointcloud.sensor_orientation_.w () = 0.0f;
pointcloud.sensor_orientation_.x () = 1.0f;
pointcloud.sensor_orientation_.y () = 0.0f;
pointcloud.sensor_orientation_.z () = 0.0f;