This example (which can be found in MRPT/samples/swissranger_cam_demo/ since MRPT 0.9.0) illustrates the usage of the cross-plaftform C++ class mrpt::hwdrivers::CSwissRanger3DCamera and how to render the 3D point cloud, intensity images, etc.. in real-time using MRPT's opengl scenes and OpenCV-compatible images (mrpt::utils::CImage)
The interface is compatible with all SwissRanger 3D Time-of-flight (TOF) cameras, although for now has been tested with SR-4000 only.
This video illustrates the application (also in Youtube, faster to load but worse quality):
You can see the code of this sample program here:
Manufacturer web site: http://www.mesa-imaging.ch/prodview4k.php