Minimal manual 

1. filers> point cloud> compute normals for point sets (default settings)
2. Filters> point cloud> poissoin surface reconstruction (settings:
9-6 - 1 - 1)
If the model is "dark",
3. normals> faces and orientation> invert normals

In "View" you put "view layer dialogue". You will see the "poisson layer"

It's time to save your work.

Go then:

Filters> Sampling> vertex attribute transfer

source mesh is the original point cloud, is the target Poisson mesh.

Important: only "color" option here.

then you can discard the layer with point cloud. Now do "save", and
make sure there is nothing in the right column is selected.

then save again as Collada.

To further simplify, there are filters, but this is just the most 
important. And clean up point clouds well! 

Thanks to Matthijs van Henten