In Zephyr you can delete undesired points from point cloud by selecting and delete them with specific tools.
You can use these tools both in sparse point cloud and dense point cloud to avoid wrong reconstructions.
To learn more about how to clean the point cloud have a look at our tutorial : Tutorial point cloud cleaning
Remember that Pro and Aerial users can use the confidence removal tool to automate in part this process, have a look here : Tutorial confidence tool
Also watch out our video :