A computer-implemented method for 3D reconstruction of a structure of a real scene, the method comprising: - providing (S10) a 3D point cloud representing the structure; - determining (S30) a closed triangulated surface representing a skin of the structure, the determining (S30) exploring candidate closed triangulated surfaces each meshing at least a respective part of the 3D point cloud and the determining (S30) penalizing a high rank of the candidate closed triangulated surfaces according to a lexicographic order, the lexicographic order being based on a triangle order and the lexicographic order ordering a first candidate closed triangulated surface having first triangles which are ordered according to a decreasing rank of the triangle order, relative to a second candidate closed triangulated surface having second triangles which are ordered according to a decreasing rank of the triangle order, wherein a higher rank in the lexicographic order is attributed to the candidate closed triangular surface which has the triangle that is the most penalized by the triangle order, the triangle order penalizing a triangle size, wherein the determining operates a selection among candidate closed triangulated surfaces by discarding candidate closed triangulated surfaces with a high rank in the lexicographic order and rewarding candidate closed triangulated surfaces with a low rank in the lexicographic order, wherein the triangle order penalizes, for a respective triangle, a high value of the radius of the smallest enclosing circle, wherein the triangle order further penalizes, for a first triangle and a second triangle having a same smallest enclosing circle, a small value of the radius of the circumscribed circle. - providing (S10) a 3D point cloud representing the structure; - determining (S30) a closed triangulated surface representing a skin of the structure, the determining (S30) exploring candidate closed triangulated surfaces each meshing at least a respective part of the 3D point cloud and the determining (S30) penalizing a high rank of the candidate closed triangulated surfaces according to a lexicographic order, the lexicographic order being based on a triangle order and the lexicographic order ordering a first candidate closed triangulated surface having first triangles which are ordered according to a decreasing rank of the triangle order, relative to a second candidate closed triangulated surface having second triangles which are ordered according to a decreasing rank of the triangle order, wherein a higher rank in the lexicographic order is attributed to the candidate closed triangular surface which has the triangle that is the most penalized by the triangle order, the triangle order penalizing a triangle size, wherein the determining operates a selection among candidate closed triangulated surfaces by discarding candidate closed triangulated surfaces with a high rank in the lexicographic order and rewarding candidate closed triangulated surfaces with a low rank in the lexicographic order, wherein the triangle order penalizes, for a respective triangle, a high value of the radius of the smallest enclosing circle, wherein the triangle order further penalizes, for a first triangle and a second triangle having a same smallest enclosing circle, a small value of the radius of the circumscribed circle. <EOS>