Python Support for Point Clouds Spatial Mapping

Hey guys,
I notices that the advanced spatial mapping does not support python and only supports cpp, and also the basic version only supports meshes not point clouds. I really need to have similar codes to the advanced version but in python or at least a basic version with point clouds. How can I do this? Do you have a sample python code for this?
Thank you and appreciate any help!

The fused point cloud example is given in the tutorial/spatial mapping part.
However I would also need the python version of the advanced spatial mapping!