如何从numpy rgb数组和深度数组创建rgbd图像？

import numpy as np
import cv2

rgb_array = np.array([[R1, G1, B1], [R2, G2, B2], ...])  # RGB数组
depth_array = np.array([[D1], [D2], ...])  # 深度数组

rgb_image = cv2.cvtColor(rgb_array.astype(np.uint8), cv2.COLOR_RGB2BGR)

depth_image = cv2.normalize(depth_array, None, 0, 255, cv2.NORM_MINMAX, cv2.CV_8U)

rgbd_image = cv2.merge((rgb_image, depth_image))