Can we get pose of UAV using amcl3d package?

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Hi! I want to get position of UAV using amcl3d package. Since amcl3d needs pcl as input i am using uav with downward faced RGBD Camera so that i can get pointlcloud which can be used as input for amcl3d.

However I am not sure if i can do like this?

And the main question is can we get pose of uav from amcl3d package. I couldnt find anywhere that we can directly get pose from amcl3d package atleast as per documentation or may be i might understood it in a wrong way!!

It would be great if someone can help me in finding pose of amcl3d if we can get directly pose from amcl3d?