Function depth_to_xyz_dense 

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

Converts depth into a dense H×W×3 XYZ buffer (row-major interleaved).

Invalid / out-of-range depths become NaN triples, matching OpenCV rgbd.depthTo3d dense semantics for undistorted pinhole cameras.