Could you tell us please whether you are using the RealSense SDK with Windows or the Librealsense SDK with Linux please? Thanks!
I'm using and Euclid running ROS, so it's librealsense. I see that '/camera/depth/points' is in the 'rostopic list' so I expect that I'll need to write a node that subscribes to this.
Here is a script for a Librealsense tutorial example for generating a point cloud. I hope it will be of use to you.
you can simply register to that topic and get the generated pointcloud.
Marty's answer is correct if you do not want to use ROS.