How do they do it? Point Cloud to Polygon

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I am looking to to create a 3D representation of space while driving through. I will have lots of points.

My question is how do you generate a mesh or something that can be displayed from that? 

Is there any code for this kind of thing? I want to do it on the fly like Project Tango.

and make something that looks like this. Possible? In short How do they do that? Make lots of fat pixels?

Is there a way to make points to polygons? Thats a lot of boxes to generate. 

Could this be done with Particles? Each particle being a rectangle? 



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