raycast a 3D pointcloud to an 2D image from a given viewpoint

raycast a 3D pointcloud to an 2D image from a given viewpoint

what i want to do is to raycast a pointcloud to an 2D image. What I have
is a 3D PointCloud and a Viewpoint which is different to the general world
coordinate system. I would like to do a raycasting from this Viewpoint to
generate a 2D image of the point cloud. So, i just need a method like
getintersectedvoxel which is doing the casting for the whole area and not
only for a single ray.