I don't have much to add, unfortunately.
The software I was using to model the point cloud as a mesh surface, Rhino3D, doesn't import color information with a CSV point cloud. Which is a shame, really, considering the color information is stored in the Photosynth point files.
Rhino3D really isn't the best tool for translating the point cloud to a mesh, though. I get the feeling it's expecting point clouds from a 3D surface scanner like a Faro arm, or from a digitizing contact probe. (Read that as: "It's expecting errors in the 0.0005" range.")
But there are tools out there that have filters for cleaning up the point clouds. I don't have any of them, though, so I can't really say anything about that.
I like the idea of making a solid model out of a synth, though. The motor driver electronics on my CNC mill are dead at the moment, but as soon as I get them fixed, that would be a seriously neat project!
Good luck with your dog.