We present the final development of our point spread function reconstruction algorithm for the Keck-II telescope adaptive optics system, in laser and natural guide star modes. The method makes use of AO loop teleme- try, nearby CN2 profiler data, and on-sky phase diversity. We describe the fundamental assumptions and the mathematical models for each components of the residual phase structure function. The reconstructed PSF is compared with on-sky single star PSF. We emphasize the importance of access to a good telemetry and the fact that non-common path aberrations also affects PSF-R. The global, statistical quality of the reconstructed PSF demonstrates the validity of the method. The algorithm is now ready for AO science data reduction (see the companion overview paper, Ragland et al.1 - this conference).