@staticmethod
def convert_point_to_pixel(point, focal_length_in_pixels, principal_point):
    """
        This method is used for converting a point in [x, y, z, r, g, b] to a RGBD pixel
        :param point: A point of form [x, y, z, r, g, b]
        :param focal_length_in_pixels: Focal length of the camera measured in pixels
        :param principal_point: Center of the image
        :return: An RGBD pixel in shape [y, x, depth, r, g, b]
        """
    x_dist = point[0] / point[2] * focal_length_in_pixels
    y_dist = point[1] / point[2] * focal_length_in_pixels
    y_coord = principal_point[0] - y_dist
    x_coord = principal_point[1] + x_dist
    return [y_coord, x_coord] + point[2:]
