visp tracker with depth camera

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I am trying to use visp_tracker to estimate the pose of a box. I have a realsense camera and would like to incorporate the depth data to improve the pose estimation. I am following the visp_tracker tutorial (with the bag file) which I already adapted to use real time camera data. However, I don't know how to modify the launch file in order to have the depth information added to the tracker. This is my current code for the color information which works similarly to the tutorial launch file.

node pkg="visp_tracker" type="tracker" name="tracker_mbt" output="screen">

param name="camera_prefix" value="/camera/color" />

param name="tracker_type" value="mbt+klt" />

/node>

Alternatively, I am open to use other packages which allow me to estimate the pose of a box (with pre-defined size) from RGBD camera measurements.