How can I amend an undercharged POS transaction?

A customer was inadvertently undercharged at point of sale (the salesperson scanned the items incorrectly) and the customer left with merchandise that was not rung up. There is no customer information associated with the order number. Is there a way to amend the transaction? I know we can refund without having a card present, but I assume there is no way to change the items in the sale and recoup the rest of the balance due?

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