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CloudCompare is a 3D point cloud (and triangular mesh) processing software. It was originally designed to perform comparison between two 3D points clouds (such as the ones obtained with a laser scanner) or between a point cloud and a triangular mesh. It relies on an octree structure that is highly optimized for this particular use-case. It was also meant to deal with huge point clouds (typically more than 10 million points, and up to 120 million with 2 GB of memory).

The Objectron dataset is a collection of short, object-centric video clips, which are accompanied by AR session metadata that includes camera poses, sparse point-clouds and characterization of the planar surfaces in the surrounding environment. In each video, the camera moves around the object, capturing it from different angles. The data also contain manually annotated 3D bounding boxes for each object, which describe the object’s position, orientation, and dimensions. The dataset consists...