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The best way to get an accurate and complete model I have found at this time is hand correcting the errors. I use this when I need a "base mapping" that needs to be extremely accurate. Meshlab may be what you're looking for, as it allows hand modifying of point clouds in PLY and OBJ formats. It can be found here: http://meshlab.sourceforge.net/. If you're looking for an automated solution I haven't been able to get anything to work to the accuracy I need, if you find a solution let me know.

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