depth to xyz from dataset

const auto FX = 478.01f;
    const auto FY = 478.01f;
    const auto CX = 321.59f;
    const auto CY = 250.55f;
    vector<Point3f>  xyzBuffer;


    auto depth_image = imread("C:\\OpenARK\\OpenARK-test\\moon.png", IMREAD_ANYDEPTH);
    cout << "n rows depth: " << depth_image.rows << endl;
    cout << "n cols depth: " << depth_image.cols << endl;
    cout << "depth type: " << depth_image.type() << endl;

    for (auto v = 0; v < depth_image.rows; v++) {
        for (auto u = 0; u < depth_image.cols; u++) {
            auto depth_value = depth_image.at<float>(v, u);
            Point3f p;
            p.x = ((u - CX)*depth_value*(1.0f / FX)) / 1000.0f;
            p.y = ((v - CY)*depth_value*(1.0f / FY)) / 1000.0f;
            p.z = (depth_value) / 1000.0f;
            xyzBuffer.emplace_back(p);
        }
    }

    /*for (auto u = 0; u < depth_image.cols; u++) {
        for (auto v = 0; v < depth_image.rows; v++) {
            auto depth_value = depth_image.at<float>(u, v);
            Point3f p;
            p.x = ((u - CX)*depth_value*(1.0f / FX)) / 1000.0f;
            p.y = ((v - CY)*depth_value*(1.0f / FY)) / 1000.0f;
            p.z = (depth_value) / 1000.0f;
            xyzBuffer.emplace_back(p);
        }
    }*/
    xyzMap = Mat(xyzBuffer, true).reshape(3, 480);
    namedWindow("xyz Map", WINDOW_AUTOSIZE);
    imshow("xyz Map", xyzMap);
    waitKey(0);