Hey Tom,
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I think it will not work like that because RC expects a mesh, which should consist only of surfaces which are edge to edge.
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The observation you describe is caused by the fact that RC does not have enough features to calculate the proper distortion parameters - if you have enough “good” images in the set, you can overcome that by exif grouping to a certain extent.
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It depends if you want the room to be represented full or empty. If you only want to do a line drawing from the scan, it doesn’t matter if stuff is in the way as long as you get enough of each feature that you want to draw. And RC is designed to do exactly what you say laserscans lack - fill in the holes and provide a high quality texture. In theory, one scan is sufficient if you can cover everything you need.
I think the rest moves a bit far from RC so it should better be discussed in a different forum.