From my, somewhat limited, understanding of how point clouds work I feel that one should be able to generate a point cloud from a set of 2d images from around the outside of an
VisualSFM is an application that allows 3D reconstruction. You can get a point cloud from multiple 2D images.
This video shows how to extract multiple images from a short clip of a tree and then use VisualSFM to create a point cloud.