This is a simple PointCloud generator:
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import processing.opengl.*;
import SimpleOpenNI.*;
SimpleOpenNI kinect;
float rotation = 0;
int boxSize = 150;
int frameSkip = 5; //increase this to get better framerate

PVector boxCenter = new PVector(0, 0, 600);
// this will be used for zooming
float s = 1;

void setup() {
  size(1024, 768, OPENGL);
  kinect = new SimpleOpenNI(this);
  kinect.enableDepth();
}

void draw() {
  background(0);
  kinect.update();
  translate(width/2, height/2, -1000);
  rotateX(radians(180));
  translate(0, 0, 1400);
  rotateY(radians(map(mouseX, 0, width, -180, 180)));

  translate(0,0,s*-1000);
  scale(s);
  println(s);
  stroke(255);
  PVector[] depthPoints = kinect.depthMapRealWorld();
  for (int i = 0; i < depthPoints.length; i+=frameSkip)
  {
    PVector currentPoint = depthPoints[i];
    point(currentPoint.x, currentPoint.y, currentPoint.z);
  }
}
// use keys to control zoom
// up-arrow zooms in
// down arrow zooms out
// s gets passed to scale() in draw()
void keyPressed(){
  if(keyCode == 38){
    s = s + 0.01;
  }

  if(keyCode == 40){
   s = s - 0.01;
  }
}

void mousePressed(){
  save("touchedPoint.png");
}