The Point Cloud Vertex snap lets you snap to points in point-cloud objects. Use this function to create geometry that conforms to the shape of the point-cloud object.
Standard menu: Tools menu > Grids and Snaps > Grid and Snap Settings > Grid and Snap Settings dialog > Snaps panel > Choose Point Cloud Objects from the drop-down list.
Enhanced menu: Scene menu > Grids and Snaps > Grid and Snap Settings > Grid and Snap Settings dialog > Snaps panel > Choose Point Cloud Objects from the drop-down list.