Obtaining Point Cloud from Depth Image

Hello Mr. Jacquet

I am currently trying to use the PSL library to generate point cloud in a ROS environment. In the paper "Real-Time Direct Dense Matching on Fisheye Images Using Plane-Sweeping Stereo" the authors also used the depth images to compute Point Clouds. Would you have any suggestions on how i could proceed? Any insight would be highly appreciated. 

Regards
Abhilash Nand Kumar   