You might give "Cloud Compare" a try. It's pretty robust and there's a lot you can do with it, in addition to the surface reconstructions.
Lots of people are using Rhinocerus, too, which has a really nice long trial period.
The learning curves on both are kinda steep, but they might be what you're looking for. Rhinocerus is somewhere around $1,000 the last time I checked, but if you want to try it out, the trial period is a few months...