depth image from point cloud

edit

Hi,

I have a point cloud which was obtained from Laser scanning. I need to extract depth images from this point cloud. I want to assume random camera position and set up some camera parameters and get images corresponding to these positions. I found some documentation but this isn't what I need : http://wiki.ros.org/pcl_ros/Tutorials... . There was a discussion which looked similar to mine here : http://www.pcl-users.org/get-a-2d-dep... but the links posted here are not valid. Can anybody help me by telling how I should get started with this and also if this is possible.

Thanks