docs: public static void showPointCloud(ImageGray disparity, BufferedImage left,
  									  Se3_F64 motion, DMatrixRMaj rectifiedK , DMatrixRMaj rectifiedR,
  									  int minDisparity, int maxDisparity)
  	{
  		DisparityToColorPointCloud d2c = new DisparityToColorPointCloud();
  		double baseline = motion.getT().norm();
  		d2c.configure(baseline, rectifiedK, rectifiedR, new DoNothing2Transform2_F64(), minDisparity, maxDisparity);
  		d2c.process(disparity,left);
  
  		CameraPinhole rectifiedPinhole = PerspectiveOps.matrixToPinhole(rectifiedK,disparity.width,disparity.height,null);
  
  		// skew the view to make the structure easier to see
  		Se3_F64 cameraToWorld = SpecialEuclideanOps_F64.eulerXyz(-baseline*5,0,0,0,0.2,0,null);
  
  		PointCloudViewer pcv = VisualizeData.createPointCloudViewer();
  		pcv.setCameraHFov(PerspectiveOps.computeHFov(rectifiedPinhole));
  		pcv.setCameraToWorld(cameraToWorld);
  		pcv.setTranslationStep(baseline/3);
  		pcv.addCloud(d2c.getCloud(),d2c.getCloudColor());
  		pcv.setDotSize(1);
  		pcv.setTranslationStep(baseline/10);
  
  		pcv.getComponent().setPreferredSize(new Dimension(left.getWidth(), left.getHeight()));
  		ShowImages.showWindow(pcv.getComponent(), "Point Cloud", true);
  	}