title: Using RGB images and PointCloud, how to generate depth map from the PointClouds? (python)
body: <p>I am working on fusing Lidar and Camera images in order to perform a classification object algorithm using CNN.</p>
  
  <p>I want to use the KITTI Dataset which provide synchronized lidar and rgb image data. Lidar are 3D-scanners, so the output is a 3D Point Cloud.</p>
  
  <p>I want to use depth information from point cloud as a channel for the CNN. But I have never work with point cloud so I am asking for some help. Is projecting the point cloud into the camera image plane (using projection matrix provide by Kitti) will give me the depth map that I want? Is Python libray pcl useful or I should move to c++ libraries? </p>
  
  <p>If you have any suggestions, thanks you in advance</p>