Check out example codes for "create point cloud from rgbd image in open3d v0.10". It will help you in understanding the concepts better.

Code Example 1

import open3d as o3d

print("Read Redwood dataset")
color_raw = o3d.io.read_image("../../TestData/RGBD/color/00000.jpg")
depth_raw = o3d.io.read_image("../../TestData/RGBD/depth/00000.png")
rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(
    color_raw, depth_raw)
print(rgbd_image)

Learn ReactJs, React Native from akashmittal.com