Astra "calibration" (scaling down X, Y, and Z to range 0-1)

So I’ve successfully ran ORBBEC Astra with PCL viewer and everything works as a charm.

The thing that’s bothering me is that I don’t know how to scale X, Y, and Z points to be between 0 and 1 to get a nicer view.
I’m not sure what the maximum range of x, y, and z are so I have no idea how to scale those points.

I tried searching, but it was unsuccessfull so if anyone knows how, thank you in advance.