parameters: (pointcloud, camera_intrinsics)
return_statement: return x, y
docstring: Convert the world coordinate to a 2D image coordinate
  
  	Parameters:
  	-----------
  	pointcloud 	 	 : numpy array with shape 3xN
  
  	camera_intrinsics : The intrinsic values of the imager in whose coordinate system the depth_frame is computed
  
  	Return:
  	----------
  	x : array
  		The x coordinate in image
  	y : array
  		The y coordiante in image
docstring_summary: Convert the world coordinate to a 2D image coordinate
docstring_tokens: Convert the world coordinate to a 2D image coordinate
function: def convert_pointcloud_to_depth(pointcloud, camera_intrinsics):
  	"""
  	Convert the world coordinate to a 2D image coordinate
  
  	Parameters:
  	-----------
  	pointcloud 	 	 : numpy array with shape 3xN
  
  	camera_intrinsics : The intrinsic values of the imager in whose coordinate system the depth_frame is computed
  
  	Return:
  	----------
  	x : array
  		The x coordinate in image
  	y : array
  		The y coordiante in image
  
  	"""
  
  	assert (pointcloud.shape[0] == 3)
  	x_ = pointcloud[0,:]
  	y_ = pointcloud[1,:]
  	z_ = pointcloud[2,:]
  
  	m = x_[np.nonzero(z_)]/z_[np.nonzero(z_)]
  	n = y_[np.nonzero(z_)]/z_[np.nonzero(z_)]
  
  	x = m*camera_intrinsics.fx + camera_intrinsics.ppx
  	y = n*camera_intrinsics.fy + camera_intrinsics.ppy
  
  	return x, y
function_tokens: def convert_pointcloud_to_depth ( pointcloud , camera_intrinsics ) : assert ( pointcloud . shape [ 0 ] == 3 ) x_ = pointcloud [ 0 , : ] y_ = pointcloud [ 1 , : ] z_ = pointcloud [ 2 , : ] m = x_ [ np . nonzero ( z_ ) ] / z_ [ np . nonzero ( z_ ) ] n = y_ [ np . nonzero ( z_ ) ] / z_ [ np . nonzero ( z_ ) ] x = m * camera_intrinsics . fx + camera_intrinsics . ppx y = n * camera_intrinsics . fy + camera_intrinsics . ppy return x , y