I believe Kinect Fusion can not only do image processing, but it can also generate a mesh that you can export as a .stl file. Are you using a Kinect V1 or V2? Microsoft just released the adapter cable for the Kinect V2 to allow the xbox one Kinect V2 to be connected to a PC. I want to try this as well, but simply have not had the time. Below is the link for Kinect Fusion, let me know what you think of the software if you give it a shot, but I think its probably what you are looking for.
http://msdn.microsoft.com/en-us/library/dn188670.aspx
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I too have been curious about this, I have seen videos of people mapping rooms with them but I don't recall the file format. If it does not use OBJ or STL as a native file there has to be a program out there to convert the file into a usable one. Also check out kinect studio, at least thats what i think it is called, its a program from Microsoft for enable kinect with other applications.
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