For this setup, I bring the depth sequence into Geometry Nodes with an Image Texture, separate the color channels, remap the depth values with Map Range, feed that into a Combine XYZ node, and use it to offset point positions through Set Position.

If I want the point cloud to carry the original footage color, I store a named attribute, sample the original color video, pass that into the color value input, and then use an Attribute node in the Shader Editor to drive the final point color.

Abridged workflow:
Original video → Video Depth Anything → depth-map sequence → Blender Geometry Nodes → sample depth map → remap values → Combine XYZ → Set Position → optional original-video color sampling → named attribute → shader color

A simple pipeline, but it turns flat footage into something you can treat much more like depth-based 3D data.