Function depth_to_xyz_dense_into 

pub fn depth_to_xyz_dense_into(
    depth: ImageView<'_, f32, 1>,
    camera: &PinholeCamera,
    options: DepthConversionOptions,
    out: &mut [f32],
) -> Result<(), RgbdError>

Fills a caller-provided dense H×W×3 XYZ buffer (length must be H*W*3).