I have been playing with RTAB-Map and a Kinect, and exporting to various formats and it works reasonably well, but is still far from user-friendly. They also have a iOS version if you want to play around with it.
Ooh, I just found my old Kinect yesterday. I'll have to play around with this.
Download RTABMap and the OpenNI drivers and export as ply and use CloudCompare and MeshLab to play with the pointclouds. I am not a fan of the mesh function in RTAB-Map and there are some buggy options which insta-crash it on export. Meshlab is also super-buggy and has a terrible GUI. Have fun!