Photogrammetry is the word you're after.

The software of the moment is called "Capturing reality" and is in BETA and free only until the end of the month. The old standard was Agisoft.

All you have to do is take lots (more than you think you would need from all angles) of photographs around an object. Load them into the software and assuming the lighting/angles are OK, it will align and combine them into a point cloud/mesh. You'll probably have to do some scaling to get the sizing correct. Whether you'll get your tolerances I'm really not sure.

There's a good usergroup on facebook called "3D Scanning User Group" - where most people use cameras.