Is it possible to create a point cloud with depth image from Kinect sensor and map with thermal image from FLIR Lepton?

Hi, I am working on a project where I need to map the thermal image I acquire from a FLIR Lepton camera onto a point cloud acquired and created by using Kinect sensor V2 and pointcloud functions in Matlab. Is it even possible? The resolution of the thermal image is 160x120x3 uint8.