[Python] Is there any library for obtaining depth maps from point clouds that supports using...

I'm trying to convert some point clouds provided as PCD files to RGBD images using open3d.t.geometry.PointCloud.project_to_rgbd_image method. The idea is to implement something like cloudcompare bubble view mode. However, the origin of the point cloud doesn't match its viewpoint, so its location is required for calculating the extrinsic matrix required by that projection

I’ve seen that PCL also provides a class for that, but it doesn’t specify the default location of the camera (its methods just take the scaling factor and the scaling method as inputs).

Do you know any library able to read the viewpoint information of PCD files for converting a point cloud to a depth image?

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