Function rgbd_to_point_cloud 

pub fn rgbd_to_point_cloud(
    depth: ImageView<'_, f32, 1>,
    color: ImageView<'_, u8, 3>,
    camera: &PinholeCamera,
    options: DepthConversionOptions,
) -> Result<PointCloud, RgbdError>

Converts aligned RGB and depth images into an XYZRGB point cloud.

RGB channel order is preserved as r, g, and b u8 fields.