How to find the concave hull for a cloud of points in 3D space?

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The existing algorithm for convex hull is not able to capture the feature for a set of 3D points. Moreover, I found few mathematic tools have this function to obtain the concave hull and their responding points.

Given the data of spheres:



x1 y1 z1 radii_1

x2 y2 z2 radii_2

...

xn yn zn radii_n

Any idea?

Update 1:

I found a 2D algorithm, it works fine depending on the threshold value. However, I need the 3D algorithm.





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