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If you need a simple 3D viewer of the pointcloud produced by the kinect, I'd go with the PCL. They provide a lightweight viewer as well as a full-featured one:

simple CloudViewer: http://www.pointclouds.org/documentation/tutorials/cloud_viewer.php
PCL Visualizer: http://pointclouds.org/documentation/tutorials/pcl_visualizer.php

Just register a callback that accesses the XYZRGB-Pointcloud of the kinect and, inside the callback, provide the pointcloud to the viewer.

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