Convert to Dense Point Cloud
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The algorithm converts a given Point Cloud to a "Dense Point Cloud", i.e. a depth or range image of the point cloud from a certain point of view. This is mainly intended to re-add lost point-to-pixel mappings for data that already is "dense" and for which the user has a matching view matrix and camera intrinsics.

Input
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The algorithm takes exactly one Point Cloud.

Output
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The input object will be modified in-place by replacing position, color, and normal data with the transformed data (via the view matrix) and adding the point-to-pixel mapping.

Description
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The user needs to set the **View matrix**, **Camera intrinsics** matrix, and image resolution (**Viewport width** times **Viewport height**), which needs to be given by some outside information source (usually provided with the data).