Fixed CloudViewer properties
Revert "PCDWriter binary mode"

This reverts commit 2044a8a7c943a2dd3e58e52f450db0dc17db9e37.
Revert "Revert "PCDWriter binary mode""

This reverts commit eefac346f05e586e0cb10ecebe10d0ed8b5de262.
Revert "depthconverter"

This reverts commit 5aca74a42a94919b8f6d1391c2b1684feff5db6e.
Merge branch 'master2' into HEAD