How to to convert my depth images and color images to point cloud

Hardware: femto mega I

I am currently saving png images in color at (1280 x 720) just the same way the example code in python shows how to do. then I am saving .raw depth images (1280x720) just like the example shows. I’m aligning the images and syncing them as well

Now after I have a collection of images, I would like to use that depth and color to convert to point cloud.

What is the process of doing this?