A method for constructing a triangular mesh surface of a point cloud includes constructing triangles according to point cloud data, determining seed triangles from the constructed triangles. The method further includes selecting triangles that share a side with a determined seed triangle from the constructed triangle, determining a specific triangle having the biggest dihedral angle with the determined seed triangle and the biggest angle opposing the shared side of the determined seed triangle. The method also includes repairing holes formed by the specific triangles if the all specific triangles have been determined, adjusting a normal vector of each specific triangle, and outputting a triangular mesh surface constructed by the adjusted triangle.