3d reconstruction from RGBD images

[majnas]

I'm curous about reconstruct froim RGBD image, I have following RGB images with depth data

(py312) dev@av1 [11:33:19 AM] [~/colmap/my_project] [main *]
-> % tree
.
├── depth
│   ├── 0001.png
│   └── 0002.png
└── images
    ├── 0001.png
    └── 0002.png

It would be great if I can estimated camera positions as well. Please help me.