How do I convert smoothed depth data to point cloud data？

[SuperBJ711]

Through the function "smooth_depth_image()", I got a smoothed depth data. I wanted to convert it into a point cloud data. I passed the function "get_transformed_depth_object()", but it failed. After checking the source code, I found that a handle to depth image is needed. So is there any way to create a handle to a depth image with smoothed depth data? Thanks for your time and help.