3D model from point cloud microstation.

Hi, I have point clouds file .pod for structure that has a lot of pipes, valves, stairs, etc inside. If there is any way to make 3D objects from point clouds, and what version of Bentley possibly could do it. I have Descartes and I am trying to use Point Cloud Advanced tools to make cylinders and planes, but it will take forever and not accurate at all for such complicated structure. Thank you.