About createFromPointCloudWithFixedSize

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About createFromPointCloudWithFixedSize

Aram So
I'll make the 2D depth image from point cloud. And I used the API below.
- RangeImagePlanar::createFromPointCloudWithFixedSize

But this API is using the pinhole camera model. it's result are always
rotate 180 degree.

1. In fact I would like to get a 2D depth map that exactly matches my 3D
perspective camera.
like this Eigen::Affine3f(sensor_pose)

2. Is this createFromPointCloudWithFixedSize API suitable for my purposes??
So, do I always have to rotate the 2D output?

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