code: def from_color_and_depth(color_im, depth_im):
          
          # check shape
          if color_im.height != depth_im.height or color_im.width != depth_im.width:
              raise ValueError('Color and depth images must have the same shape')
  
          # check frame
          if color_im.frame != depth_im.frame:
              raise ValueError('Color and depth images must have the same frame')
  
          # form composite data
          rgbd_data = np.zeros([color_im.height, color_im.width, 4])
          rgbd_data[:, :, :3] = color_im.data.astype(np.float64)
          rgbd_data[:, :, 3] = depth_im.data
          return RgbdImage(rgbd_data, frame=color_im.frame)
docs: Creates an RGB-D image from a separate color and depth image.