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Solve the following problem using Python, implementing the functions described below, one line at a time
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Description:
 def point_normal_cloud(self, camera_intr):
 """Computes a PointNormalCloud from the depth image. Parameters camera_intr : :obj:`CameraIntrinsics` The camera parameters on which this depth image was taken. Returns ------- :obj:`autolab_core.PointNormalCloud` A PointNormalCloud created from the depth image. """

        point_cloud_im = camera_intr.deproject_to_image(self)
        normal_cloud_im = point_cloud_im.normal_cloud_im()
        point_cloud = point_cloud_im.to_point_cloud()
        normal_cloud = normal_cloud_im.to_normal_cloud()
        return PointNormalCloud(
            point_cloud.data,
            normal_cloud.data,
            frame=self._frame)