title: Converting depth map, stored in a Mat to a point cloud using pcl
body: <p>I have a PNG image that I have stored in a Mat (16UC1).</p>
  
  <p>Is there a fast way to project a depth map into a point cloud using point cloud library? And after this: is there a fast way to project a point taken on that image into point cloud?</p>
  
  <p>I have to use as reference system that one that is located at the center of the IR sensor on Kinect.</p>
  
  <p>I would appreciate a kind of guide, if it's possible, thank you a lot!</p>