How to Draw the wall of the Round Pipeline?

I have known the route(position of central points in the World-Coordinate-ystem,BTW:the route is not beeline!) and the radius of a pipeline ,but I don’t known how to draw the outer-wall of the pipeline and spent three days on the question,Can you give me some advice or code?Any helps are appreciating!

See Graphics Gems - there is a paper on the calculation of reference frames along a space curve, which can be used to generate the required geometry.

Thanks a lot!
Now I only need the pipes connection style of ANCON just like in “OpenGL 3D Pipes Screen Saver” in Windows Operation system.
And I have read the paper,But don not known how to apply it in my programme,I want to get some source code and study it.