code: def deproject_to_image(self, depth_image):
          
          point_cloud = self.deproject(depth_image)
          point_cloud_im_data = point_cloud.data.T.reshape(depth_image.height, depth_image.width, 3)
          return PointCloudImage(data=point_cloud_im_data,
                                 frame=self._frame)
docs: Deprojects a DepthImage into a PointCloudImage.
  
          Parameters
          ----------
          depth_image : :obj:`DepthImage`
              The 2D depth image to projet into a point cloud.
  
          Returns
          -------
          :obj:`PointCloudImage`
              A point cloud image created from the depth image.
  
          Raises
          ------
          ValueError
              If depth_image is not a valid DepthImage in the same reference frame
              as the camera.