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As I was just skimming through the code. This is what openni_camera does:

for (int v = 0; v < (int)cloud_msg->height; ++v, depth_idx += depthSkip)
{
  for (int u = 0; u < (int)cloud_msg->width; ++u, depth_idx += depthStep, ++pt_iter)
  {
    pcl::PointXYZ& pt = *pt_iter;

    // Check for invalid measurements
    if (depth_md[depth_idx] == 0 ||
        depth_md[depth_idx] == depth.getNoSampleValue () ||
        depth_md[depth_idx] == depth.getShadowValue ())
    {
      // not valid
      pt.x = pt.y = pt.z = bad_point;
      continue;
    }

    // Fill in XYZ
    pt.x = (u - centerX) * depth_md[depth_idx] * constant;
    pt.y = (v - centerY) * depth_md[depth_idx] * constant;
    pt.z = depth_md[depth_idx] * 0.001;
  }
}