How to run sample in 3d module (opencv5)

There is a sample in 3d module(opencv5).
How to run this sample is not clear.
I downloaded a data base as it is written.
there a rgb.txt and depth.txt file. Now I understand that file are not in a good format.
I merge files (rgb.txt and depth.txt) and example give a result in file.
Is it the good data base to use this sample?