We got a shiny new
stereo camera in the lab which I've been playing with. Here's a rendering of the pointcloud of me sitting at my desk:

This was using a realtime algorithm, so the output is pretty spotty. If you're willing to spend a couple seconds (or minutes!) per frame, it can get a lot better. This view is offset from the camera, so you can see the big empty gap behind me where I was occluding the camera's view.