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rosbridge is a great way to make a websocket which can stream data via restful api. You can use rosbridge to get topics from ROS to unity. I've done this myself but one caveat is that PointCloud2 topics are bugged in indigo to the point that the streaming doesn't work for those types.

Here's a great example to get you started with streaming topics form a kinect: http://wiki.ros.org/ros3djs/Tutorials/Point%20Cloud%20Streaming%20from%20a%20Kinect

Also, do ingest the data via Unity3d you merely point it at the web service.