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Without delving into math too much, as points in a point cloud do not have a length or area, it is impossible to compute an intersection with a mesh. It sounds like what you want is getting all points of a point cloud that are less than a certain epsilon distance away from the surface of a mesh. I'm not sure there is a implementation available that directly allows for this, but the point-to-plane metric commonly employed when performing ICP is very similar, so having a look at PCL's registration module might be worth a shot.
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Without delving into math too much, as points in a point cloud do not have a length or area, it is impossible to compute an intersection with a mesh. It sounds like what you want is getting all points of a point cloud that are less than a certain epsilon distance away from the surface of a mesh. I'm not sure there is a implementation available that directly allows for this, but the point-to-plane metric commonly employed when performing ICP is very similar, so having a look at PCL's registration module might be worth a shot.
/edit: After your clarification, it sounds like pcl frustum_culling might be useful. As a polygon mesh in PCL internally uses a point cloud for it's vertices, you should be able to get the vertices inside the Kinect camera frustum by using the frustum culling filter.
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