code: def point_normal_cloud(self, camera_intr):
          
          point_cloud_im = camera_intr.deproject_to_image(self)
          normal_cloud_im = point_cloud_im.normal_cloud_im()
          point_cloud = point_cloud_im.to_point_cloud()
          normal_cloud = normal_cloud_im.to_normal_cloud()
          return PointNormalCloud(
              point_cloud.data,
              normal_cloud.data,
              frame=self._frame)
docs: Computes a PointNormalCloud from the depth image.
  
          Parameters
          ----------
          camera_intr : :obj:`CameraIntrinsics`
              The camera parameters on which this depth image was taken.
  
          Returns
          -------
          :obj:`autolab_core.PointNormalCloud`
              A PointNormalCloud created from the depth image.