Yes, it also contains the color information. I'm not sure if the software come alone with the camera has the KinectFusion function. But it should be doable to find a third-party software to do that. You can read more from the links below: https://support.intelrealsense.com/hc/en-us/community/posts/360038501814-3D-Reconstruction https://www.intelrealsense.com/depth-camera-d415/

Here you can see the differences: https://www.galaxus.ch/Comparison/9966475-13853837

Is the question still relevant?