Is it possible to create a 3D map for path planning using hectorslam and kinect held hectorquadrotor?

I could create a geotiff with laser scan. I tried adding a kinect sensor to the indoorslam demo provided with hectorquadrotor. But I am not sure how to instruct hector_mapping to include the kinect sensor data and create a 3D map.

What should I be modifying to bring this into effect?