title: Opencv Python, Project Point Cloud onto Plane, then Convert Plane to Image
body: <p>I've been looking into cv2.projectPoints to project a point cloud onto an image plane with camera intrinsic, but I quickly realized from this questions: <a href="https://stackoverflow.com/questions/51594411/interpretation-of-projectpoints-function">Interpretation of projectPoints() function</a>, that the depth data is lost. Also, I can not a way to find convert the image plane to a depth image, so I was wondering if you guys can help me with how to use cv2.projectPoints or a similar opencv python function to project to a plane, while preserving depth distance, and then also how to convert the resulting image plane, with depth to a depth map.</p>