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Re:RoomScan: Get a Floor Plan in Minutes Just By Walking Aro... by rch on Wednesday March 26, 2014 @01:20PM (#7474844)
This is probably what you're looking for:

http://structure.io/

And while not germane to your particular use, this is still worth noting:

"Structure allows you to capture dense geometry. This enables you to simulate real world physics."

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