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C# display a point cloud


I got the point cloud data (9830400byte array) in windows, which cames from ubuntu ROS Indigo. As far as i know the 9830400byte = 640 * 480 * 4 chanels(rgba) * 8(different z corinates). And i wanted to display it in a windows form. Anyone know any method how can i do it?

Thanks for your help!