Hi Sifiso,

If the point cloud is convex you can use the convex hull. This can be obtained from Delaunay tesselation.

If the point cloud (or the object it represents) is not convex, you'll need to have some exclusion rule(s) to discard tetrahedrons that should not be in the tesselation (like a maximum element edge length). There are many tools for this in Visualization Toolkit (VTK) e.g. vtkDelaunay3D.

Here's an example of a non-convex object (Stanford Bunny) from point cloud -

http://www.vtk.org/Wiki/VTK/Examples/Cxx/Modelling/Delaunay3D

Best,

Scott

Dear Sifiso, If you are dealing with manifolds, please have a look at this paper:

Robust generalized numerical inspection fixture for the metrology of compliant mechanical parts

Check (Point Cloud Library) PCL library if you want to work with point clouds. There you can find many algorithms already implemented: http://pointclouds.org/