So I found this tutorial now:

http://pointclouds.org/documentation/tutorials/range_image_visualization.phpand following it, I can see that it works, principally at least. The resulting rangeImage is, however, only 10 x 11 pixels large or 15 x 12, depending how I vary the angularResulution. Here is a screenshot...

However, It appears that the output image renders the rangeImage from the default position of the pcl_viewer. When I press "c" to get the camera parameters of the viewer i get these values:

Clipping plane [near,far] 73.2078, 118.489

Focal point [x,y,z] 56.431, 29.711, 15.6045

Position [x,y,z] 56.431, 29.711, 108.759 // lets call this p0

View up [x,y,z] 0, 1, 0 // lets call this view0

Camera view angle [degrees] 49.1311

here is the default view. Its a top-down view which for a plane / facade is not very useful.

however, i would need a generated image from this point of view, a front-view.

Clipping plane [near,far] 0.131234, 131.234

Focal point [x,y,z] 58.3524, 31.0412, 15.0909

Position [x,y,z] 83.5202, -4.28648, 17.7529 // lets cal lthis p1

View up [x,y,z] -0.0197777, 0.0611065, 0.997935 // lets call this view1

Camera view angle [degrees] 49.1311

Is there a way to get this done automatically?

I suppose I can rotate the point cloud into this position by multiplying it with a rotation matrix. But how do I get this matrix?

Do I have to translate the point cloud first using: t_vec = p1-p0 ?

And then I would need to rotate it by R = ?? . How would I get a proper R here using view0 and view1? Do I need to SLERP those two vectors to obtain the difference of rotationVectors and then construct the proper R from this?