Fix depth point cloud not taking transformation at its path into account

[Wumpf]

What

• Fixes Camera extrinsics and intrinsics on same path does not work for depth images #3296

Repro code:

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:

After:

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• I've included a screenshot or gif (if applicable)
• I have tested demo.rerun.io (if applicable)

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