How ot work with unorganised point cloud data

[sivaparvathimannem]

I have got an unorganized point cloud from oak-D sensor by running the example depthai-python/gen2-pointcloud. my task is to reconstruct the color image by using color property in the point cloud. after that, i want to segments the object(lets say bottle) in the color image then apply mask and find the related bottle pixels with the corresponding points in the point cloud. finally save only the object(bottle) point cloud in a file.
However, this is an unordered point cloud i can not match the pixels directly with the cloud points. i am new this subject, can someone explain how to work with unordered point clouds? how can i able to achieve desired task? the image below is the example output.
`