Checklist

• I have searched for similar issues.
• For Python issues, I have tested with the latest development wheel.
• I have checked the release documentation and the latest documentation (for master branch).

Describe the issue

I have been trying to determine what was wrong with my .png file due to the error message "Unsupported image format." in RGBDImage::CreateFromColorAndDepth (line 21). In fact, the problem is not an unsupported image format, but the color and depth images were not the same size.

Steps to reproduce the bug

Call CreateFromColorAndDepth() with two file of different sizes.

Error message

RuntimeError: �[1;31m[Open3D Error] (static std::shared_ptropen3d::geometry::RGBDImage open3d::geometry::RGBDImage::CreateFromColorAndDepth(const open3d::geometry::Image&, const open3d::geometry::Image&, double, double, bool)) /root/Open3D/cpp/open3d/geometry/RGBDImageFactory.cpp:21: Unsupported image format.
�[0;m

Expected behavior

An error message that indicates the color and depth file are not the same size.

Open3D, Python and System information

Should not matter but:
Open3D 0.7.0, Python 3.10 Fedora Linux 38

Additional information

Hate to tell you how much time I wasted on this...