From depth 2D image to 3D point cloud with python

Question

I use a 3D ToF camera which streams a depth 2D image where each pixel values are a distance measurement in meters.

I know the following parameter of the camera: cx, cy, fx, fy, k1, k2, k3, p1, p2.

And I want to convert the depth 2D image into a point cloud where each pixel is converted into a point with coordinate (X, Y, Z).

I don't know what is the easiest way to do this 3D projection, using OpenCV or doing it by hand?