How do I approximate a number of points into a surface or volume?

I am working on plotting a robot surface and have got a set of x,y and z coordinates that I plot using the scatter3 function. From the plot, I can see that my workspace is cylinderical.

My question is how do I approximate or mesh together all these points so that the workspace looks like a single body. My x,y and z coordinates are column vectors of the same length.

Answer 1

[Image Analyst]

From the help:

DT = delaunayTriangulation(P) creates a Delaunay triangulation from the points in P. The matrix P has 2 or 3 columns, depending on whether your points are in 2-D or 3-D space.

[Danish]

It doesn't work. In addition to being too slow computationally, it produced this very strange looking 2d figure. Is there function that would work?