Even simpler: all the examples you gave of "depth_registered" point clouds are *organized*: point (u, v) corresponds to pixel (u, v) in the image. If you want the points in a different RGB frame and you have the depth image, it's best to register the depth image into that RGB frame and then calculate the point cloud (which will also be organized). Both can be done using depth_image_proc. If you have an arbitrary point cloud, you'll have to use the pinhole camera model as suggested above. P.S.: The proper place to ask this kind of question is ROS answers. --- [Visit Topic](https://discourse.ros.org/t/how-to-project-3d-data-into-pixel-coordinate/2616/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: