Function depth_to_point_cloud 

pub fn depth_to_point_cloud(
    depth: ImageView<'_, f32, 1>,
    camera: &PinholeCamera,
    options: DepthConversionOptions,
) -> Result<PointCloud, RgbdError>

Converts an aligned depth image into an XYZ point cloud.

Zero, non-finite, and out-of-range depths are omitted.