[p0w3n3d]

any software specifically? I remember like 5 years ago or so seeing someone taking a photo with a DLSR of a chipped stair step and 3d printing an addition to it which filled the chipped part like a glove and it was looking like a lego brick.

I haven't found it though. Only some "Kiri Engine" which requires phone.

[PacificSpecific]

Couple options I've tried. ALICE vision is an open source library (I used it through Houdini)

Also epic makes an app called Realityscan

The term is "photogrammetry" which might help in your searches