Changed the focal length for xyzrgba and xyzi point clouds.

[nylocx]

Changed the focal length for xyzrgba and xyzi point clouds from device color focal length to device depth focal length to remove distortions in cases where the depth resolution and color resolution do not match
The whitespace cleanup was performed automatically by my IDE I hope that isn't a problem.

[jspricke]

+1, also I would prever no unimportent whitspace changes next time as it clutters the patch and blame.

[nylocx]

I did a few tests yesterday and it seems that this fix isn't complete yet.
If I save a 640x480 pointcloud without rgb data and an 1280x960 pointcloud with rgb data as pcd and load them in the same pcl_viewer the 1280 one is still shifted to the left and the perspective is off by a little. What I was expecting is that they look pretty much the same.
I cant supply the .pcd files in question because they fall under an NDA I signed. I would record a test cloud but the pcl_openni2_viewer crashes with openni2 + libfreenect and I don't have a ASUS Xtion at home. And the NiViewer doesn't support 1280 resolution with a xbox kinect and libfreenect as driver.
If someone could record an .oni file with OpenNi2 and SXGA rgb resolution as test Data this would be nice.

[nylocx]

I recorded a short test sample with a 1280x1024 rgb resolution and 640x480 deth resolution with an ASUS Xtion.
I hosted them in this gist https://gist.github.com/nylocx/90055048a811ce04176a

1280x1024color_640x480depth.oni --> The whole oni stream about 100 depth and 25 rgb frames
ColorImage.png --> fame 0 color image
ColorRegisteredCloud.pcd --> frame 0 color pointcloud returned by unpatched OpenNI2Grabber
OnlyDepthCloud.pcd --> frame 0 depth pointcloud returned by unpatched OpenNI2Grabber

---- EDIT ----
Added Pointcloud after the initial proposed patch
ColorRegisteredCloud_patched.pcd --> frame 0 depth pointcloud returned by patched OpenNI2Grabber

[nylocx]

I tried to do a clean patch against current master using a branch of my fork of the pcl. Further discussion should take place in the new pull request. #844
This request can be closed.