code: def get_point_cloud(self, pair):
          
          disparity = self.block_matcher.get_disparity(pair)
          points = self.block_matcher.get_3d(disparity,
                                             self.calibration.disp_to_depth_mat)
          colors = cv2.cvtColor(pair[0], cv2.COLOR_BGR2RGB)
          return PointCloud(points, colors)
docs: Get 3D point cloud from image pair.