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link 1 : https://github.com/ccny-ros-pkg/ccny_rgbd_tools/blob/0.1.1/ccny_rgbd/src/rgbd_util.cpp#L308

link 2 : https://github.com/ccny-ros-pkg/ccny_rgbd_tools/blob/0.1.1/ccny_rgbd/src/rgbd_util.cpp#L348

In the link1, the function takes in a depth image, camera intrinsic parameters of a depth camera (Kinect or Asus) and creates a point cloud from that. fx, fy, cx, cy are the camera parameters.

In the second link, it takes an additional RGB image too and gives a colored point cloud.

Good luck