How to perform 3D change detection? And, also how to get render depth and binary masks using 3D reconstructed model?

I am trying to replicate your work for my own collected dataset and I am getting confused at how to apply change detection on the 3D reconstructed model from TSDF fusion. And after that how to get rendered depth and binary masks from the 3D model.

It would be great if you could guide me towards the code for the change detection and rendering of depth images.