Thank you very much for your answer I managed to display some points from the depth camera in real world. But do you know if there is a function such as the one discussed last year on this topic MLVec2f RgbPosToDepthPos(MLVec2f rgbPixelCoords, MLVec2f rgbImageResolution); ?
It would be very helpful to get the precise point correspondance between the CV camera and the depth camera. So I can retrieve only the points I need from the depth camera.