code: public void showPointCloud(GrayF32 disparity, BufferedImage left,
  							   Se3_F64 motion, DMatrixRMaj rectifiedK , DMatrixRMaj rectifiedR)
  	{
  		DisparityToColorPointCloud d2c = new DisparityToColorPointCloud();
  		double baseline = motion.getT().norm();
  		d2c.configure(baseline, rectifiedK, rectifiedR, new DoNothing2Transform2_F64(), controls.minDisparity, controls.maxDisparity);
  		d2c.process(disparity,left);
  
  		CameraPinhole rectifiedPinhole = PerspectiveOps.matrixToPinhole(rectifiedK,disparity.width,disparity.height,null);
  
  		PointCloudViewer pcv = guiPointCloud;
  		pcv.setCameraHFov(PerspectiveOps.computeHFov(rectifiedPinhole));
  		pcv.setCameraToWorld(new Se3_F64());
  		pcv.setTranslationStep(baseline/3);
  		pcv.clearPoints();
  		pcv.addCloud(d2c.getCloud(),d2c.getCloudColor());
  		pcv.setDotSize(1);
  		pcv.setTranslationStep(baseline/10);
  
  		pcv.getComponent().setPreferredSize(new Dimension(left.getWidth(), left.getHeight()));
  
  		BoofSwingUtil.invokeNowOrLater(()->{
  			controls.setViews(4);
  		});
  	}
docs: Show results as a point cloud