Vectorize paths from a point cloud to obtain nodes and arcs (Dijkstra Algorithm)

Hi guys! I'm looking for a way to vectorize a point cloud into nodes and arcs, in order to use the Dijkstra Algorithm afterwards. The point cloud is made from paths I obtained from a LiDAR data base. What I am trying to introduce in the Dijkstra Algorithm are the lenght, width and the gradient of the paths.

These are the paths showed using pcshow command. And this is a capture of the points.

Any help would be really appreciated.