Support additional feature channels in 'o3d.geometry.PointCloud.create_from_rgbd_image()'

First of all thank you for the great work you have done with Open3d.

I'm trying to use the Open3d function 'o3d.geometry.PointCloud.create_from_rgbd_image()' to generate Pointclouds from depthmaps. For my usecase however, I not only want to pass the color values of the Pixels, but i'm also trying to pass feature channels I previously extracted from the Image.

Following #2547 you recently added support for RGBA images to pass Images with 4 channels. I think a function for passing Images with 3+n channels to support an arbitrary number of additional feature channels would be a great addition to your library.