how to do 3D reconstruction after kinect Color to Depth mapping

Hello everyone. i want to ask that i have captured data now i have color and depth images and i have also saved values of color (x,y) and depth (x,y,z), now i want to map color upon depth to detect object. i have seen many threads and i came to know that i have already done mapping, because i used coordinate mapper and after that i am able to get these values.is it right?if right then now the next thing is how to make a 3D using these. as i want to detect tomato and make a 3D of tomato. now how and what to do next.kindly guide me regarding this.thanks dont have much idea that how to do it. kindly guide me about this as soon as possible.thanks