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I would say you don't: in (far out) theory you could potentially feed two image streams to the image processing algorithms that the camera uses to provide you with a depth image/point cloud, but the success of that depends on so many parameters and other characteristics of the actual, real physical device being simulated (optics among others) that it's probably not even worth considering doing that.
If you are only after getting a depth image or point cloud out of Gazebo, you'll want to look at reusing some of the existing plugins. See Defining a Stereo Camera in URDF for usage in Gazebo Simulations for an example thread about this on the Gazebo Answers forum (where you should have posted this question).
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