3D-room-reconstruction with texture (Kinect)


I am searching for a tool to scan a room in 360°-Perspective with colored texture map and high accuracy with my Kinect. In this KinectFusion video they are able to do so: http://www.youtube.com/watch?v=zzb_RQWrt6I

At the moment I only have the Kinect Fusion SDK (version 1.7) for playing around. How to use this Sample for my purpose (I am a beginner) ?
Some say the function “INuiFusionReconstruction::CalculatePointCloud” will give me a point cloud with colored texture of my real environment?

I also found this: http://www.youtube.com/watch?v=mqp3bWqxDsc
Kintinuous: Spatially extended KinectFusion with colored textures.

Moreover there are other 3-D-scanning tools and Hacks (for example Skanect by Manctl). I am confused. What is the best tool/programme for my purposes to obtain a textured point cloud of my room/scene from my Kinect??