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It seems to me like you have a point cloud. If you want to use OpenCV as ooposed to OpenGL or the point cloud library, you might find these links useful:
If this is what you want: https://www.youtube.com/watch?v=OR9XTCUNau0
Try looking here (at the sample code, which is in English): http://opencv.jp/opencv2-x-samples/point-cloud-rendering
