In RViZ 1, there was a "DepthCloud" display type that allows you to configure an RGB image topic, depth topic, and it automatically visualizes the point cloud. I don't see this in RViZ 2's list of display types.

I am hoping to visualize something similar to what's in this video https://www.youtube.com/watch?v=ZrpnqBDcEZw

How to achieve this in RViZ 2?