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There's already code for this in the 'convert_pointcloud_to_image' node. This gives you an orthogonal projection, dropping the Z-axis of the pointcloud.

You hint that you want the true 'camera image' (i.e. unrectified) using the CameraInfo, which would require a projection using the K matrix in the CameraInfo message.

There's already code for this in the 'convert_pointcloud_to_image' node. This gives you an orthogonal projection, dropping the Z-axis of the pointcloud.

You hint that you want the true 'camera image' (i.e. unrectified) raw, distorted) using the CameraInfo, which would require a projection using the K matrix in the CameraInfo message.