This is probably a good place to run the OpenGL Pixel Buffer Object (PBO)
If you need to draw an image, the easiest way would be to texture, basically a 2D block of memory that you write RGB pixels (or any other) values, and then ask openGL to draw on the screen. VBOs and PBOs simply improve the process of obtaining texture on the screen.
To draw individual 3D points, you need to learn more about OpenGL. Start here
Martin beckett
source share