ofxCV kalman filter to track point cloud

Hi all,
I’m trying to track accelerations in 3d from a kinect point cloud.
I’ve seen it’s possible to track something’s velocity and acceleration in opencv; but i need to track not only in 2d but in 3d. I have to take account of the depth value.

I saw a kalman filter in ofxCV but it seems to be able to track only one point.

Maybe a solution is to use a Mat to track multiple points together but how to take account of the depth value in this case ?

I’m a little confused,
Is someone has a starting point on how to do that ?
Thanx a lot

ofxCv seems to have a example-kalman-euler that does kalman smoothing on a ofQuaternion