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Compute an unsigned distance field, e.g. by computing for each voxel the minimum / average / weighted distance to points from the input point cloud.

Create a graph from the voxel grid and propagate the voxel values to the edge weights.

Choose one point in the interior of the object as a source and the boundaries of the voxel grid as the sink. Compute a minimum weight graph cut.

Extract all faces of voxels through which edges of the cut graph pass through.