After working all weekend on getting PCL’s new KinectFusion and collecting cool voxel representations of my friend (and after fixing the bug patch), we got this rendering:
We got this by setting the voxel size to be about upper-torso sized and then spinning my friend around on a chair. Thanks to the duality of the problem, it doesn’t matter if it’s the camera moving or the object moving relative to the camera. While there are definite errors and the resolution isn’t as high as one might want to capture fine facial features, it is still pretty impressive!