Use raw export in blender, otherwise a gamma correction is applied.
Readd rotation and translation, plots a nice pointcloud.
Add helpers for plotting a pointcloud.
Reproject image after applying camera transform.
Cleaned up a bit, keep image format for points (i.e. store points in 3D
space as H x W x 3 matrix instead of (H*W) x 3).
Save as PLY, small fixes, find small transformations trough global search.