Convert the XRCpuImage to a Texture2D for AR Foundation.

DepthImageVisualizer.cs

    // Source: https://github.com/Unity-Technologies/arfoundation-samples/blob/6296272a416925b56ce85470e0c7bef5c913ec0c/Assets/Scripts/CpuImageSample.cs
    private static void UpdateRawImage(RawImage rawImage, XRCpuImage cpuImage)
    {
        // Get the texture associated with the UI.RawImage that we wish to display on screen.
        var texture = rawImage.texture as Texture2D;

        // If the texture hasn't yet been created, or if its dimensions have changed, (re)create the texture.
        // Note: Although texture dimensions do not normally change frame-to-frame, they can change in response to
        //    a change in the camera resolution (for camera images) or changes to the quality of the human depth
        //    and human stencil buffers.
        if (texture == null || texture.width != cpuImage.width || texture.height != cpuImage.height)
        {
            texture = new Texture2D(cpuImage.width, cpuImage.height, cpuImage.format.AsTextureFormat(), false);
            rawImage.texture = texture;
        }

        // For display, we need to mirror about the vertical access.
        var conversionParams = new XRCpuImage.ConversionParams(cpuImage, cpuImage.format.AsTextureFormat(), XRCpuImage.Transformation.MirrorY);

        //Debug.Log("Texture format: " + cpuImage.format.AsTextureFormat()); -> RFloat

        // Get the Texture2D's underlying pixel buffer.
        var rawTextureData = texture.GetRawTextureData<byte>();

        // Make sure the destination buffer is large enough to hold the converted data (they should be the same size)
        Debug.Assert(rawTextureData.Length == cpuImage.GetConvertedDataSize(conversionParams.outputDimensions, conversionParams.outputFormat),
            "The Texture2D is not the same size as the converted data.");

        // Perform the conversion.
        cpuImage.Convert(conversionParams, rawTextureData);

        // "Apply" the new pixel data to the Texture2D.
        texture.Apply();
    }