create my own dataset with depth map and mesh

Hi, thank you for sharing your code.It seems useful. I want to use this code to train my own dataset.But now I only have the depth map and the ground truth meshes.I wonder how could I create the dataset as you provided.
I am going to change the depth map into point cloud, and then sample the mesh into point cloud, then what should I do to align then in the format of binvox?