Revision history [back]

This must be the tutorial you're talking about (I've only ever seen one)

http://wiki.ros.org/ros3djs/Tutorials/Point%20Cloud%20Streaming%20from%20a%20Kinect

If your point cloud is coming from a topic then that's all you need. The reason this is easy with a camera is because the point cloud sources, nodes, and topics already written and work.

That being said, the PointCloud2 topic over rosbridge websocket is wonky as of indigo, good luck with that..