Fix depth point cloud not taking transformation at its path into acco…

…unt (#3514)

### What

* Fixes #3296

Repro code:
```python
import numpy as np
import rerun as rr

rr.init("depth_camera", spawn=True)

rr.log(
    "world0/rgbd_camera",
    rr.TranslationAndMat3x3(translation=[10.0, 0.0, 0.0], matrix=np.eye(3)),
)
rr.log_pinhole("world0/rgbd_camera/image", height=480, width=640, focal_length_px=500.0)
rr.log("world0/rgbd_camera/image/depth", rr.DepthImage(np.random.rand(480, 640)))


rr.log(
    "world1/rgbd_camera",
    rr.TranslationAndMat3x3(translation=[10.0, 0.0, 0.0], matrix=np.eye(3)),
)
rr.log_pinhole("world1/rgbd_camera", height=480, width=640, focal_length_px=500.0)
rr.log("world1/rgbd_camera/depth", rr.DepthImage(np.random.rand(480, 640)))


rr.log(
    "world2/rgbd_camera",
    rr.TranslationAndMat3x3(translation=[10.0, 0.0, 0.0], matrix=np.eye(3)),
)
rr.log_pinhole("world2/rgbd_camera", height=480, width=640, focal_length_px=500.0)
rr.log("world2/rgbd_camera", rr.DepthImage(np.random.rand(480, 640)))
```

Before:
<img width="1089" alt="Screenshot 2023-09-28 at 12 02 06"
src="https://github.com/rerun-io/rerun/assets/1220815/fafa90e9-03e8-40ee-aec6-422fd5ad3dbd">

After:
<img width="1058" alt="image"
src="https://github.com/rerun-io/rerun/assets/1220815/690d229f-2a61-4196-bdac-7bea7f8fb685">

crates/re_space_view_spatial/src/parts/images.rs

@@ -510,17 +510,20 @@ impl ImagesPart {
     ) -> anyhow::Result<DepthCloud> {
         re_tracing::profile_function!();
 
-        let store = &ctx.store_db.entity_db.data_store;
-
-        let Some(intrinsics) = query_pinhole(store, &ctx.current_query(), parent_pinhole_path)
-        else {
+        let Some(intrinsics) = query_pinhole(
+            ctx.store_db.store(),
+            &ctx.current_query(),
+            parent_pinhole_path,
+        ) else {
             anyhow::bail!("Couldn't fetch pinhole intrinsics at {parent_pinhole_path:?}");
         };
 
-        // TODO(cmc): getting to those extrinsics is no easy task :|
-        let world_from_view = parent_pinhole_path
-            .parent()
-            .and_then(|ent_path| transforms.reference_from_entity(&ent_path));
+        // Place the cloud at the pinhole's location. Note that this means we ignore any 2D transforms that might be there.
+        let world_from_view = transforms.reference_from_entity_ignoring_pinhole(
+            parent_pinhole_path,
+            ctx.store_db.store(),
+            &ctx.current_query(),
+        );
         let Some(world_from_view) = world_from_view else {
             anyhow::bail!("Couldn't fetch pinhole extrinsics at {parent_pinhole_path:?}");
         };