<s>
CloudCompare	B-Language
is	O
a	O
3D	O
point	B-Algorithm
cloud	I-Algorithm
processing	O
software	O
(	O
such	O
as	O
those	O
obtained	O
with	O
a	O
laser	B-Algorithm
scanner	I-Algorithm
)	O
.	O
</s>
<s>
Originally	O
created	O
during	O
a	O
collaboration	O
between	O
Telecom	O
ParisTech	O
and	O
the	O
R&D	O
division	O
of	O
EDF	O
,	O
the	O
CloudCompare	B-Language
project	O
began	O
in	O
2003	O
with	O
the	O
PhD	O
of	O
Daniel	O
Girardeau-Montaut	O
on	O
Change	O
detection	O
on	O
3D	O
geometric	O
data	O
.	O
</s>
<s>
At	O
that	O
time	O
,	O
its	O
main	O
purpose	O
was	O
to	O
quickly	O
detect	O
changes	O
in	O
3D	O
high	O
density	O
point	B-Algorithm
clouds	I-Algorithm
acquired	O
with	O
laser	O
scanners	O
in	O
industrial	O
facilities	O
(	O
such	O
as	O
power	O
plants	O
)	O
or	O
building	O
sites	O
.	O
</s>
<s>
It	O
is	O
now	O
an	O
independent	O
open	B-Application
source	I-Application
project	O
and	O
a	O
free	B-Application
software	I-Application
.	O
</s>
<s>
CloudCompare	B-Language
provides	O
a	O
set	O
of	O
basic	O
tools	O
for	O
manually	O
editing	O
and	O
rendering	O
3D	O
points	O
clouds	O
and	O
triangular	O
meshes	O
.	O
</s>
<s>
registration	O
(	O
ICP	B-General_Concept
,	O
...	O
)	O
</s>
<s>
statistics	O
computation	O
(	O
spatial	O
Chi-squared	B-General_Concept
test	I-General_Concept
,	O
...	O
)	O
</s>
<s>
segmentation	O
(	O
connected	B-General_Concept
components	I-General_Concept
labeling	I-General_Concept
,	O
front	O
propagation	O
based	O
,	O
...	O
)	O
</s>
<s>
CloudCompare	B-Language
can	O
handle	O
unlimited	O
scalar	O
fields	O
per	O
point	B-Algorithm
cloud	I-Algorithm
on	O
which	O
various	O
dedicated	O
algorithms	O
can	O
be	O
applied	O
(	O
smoothing	O
,	O
gradient	O
evaluation	O
,	O
statistics	O
,	O
etc	O
.	O
)	O
.	O
</s>
<s>
Therefore	O
,	O
CloudCompare	B-Language
can	O
also	O
be	O
used	O
to	O
visualize	O
N-D	O
data	O
.	O
</s>
<s>
CloudCompare	B-Language
is	O
available	O
on	O
Windows	B-Application
,	O
Linux	B-Application
and	O
Mac	B-Operating_System
OS	I-Operating_System
X	I-Operating_System
platforms	O
,	O
for	O
both	O
32	O
and	O
64	O
bits	O
architectures	O
.	O
</s>
<s>
It	O
is	O
developed	O
in	O
C++	B-Language
with	O
Qt	B-Language
.	O
</s>
<s>
CloudCompare	B-Language
supports	O
input/output	O
in	O
the	O
following	O
formats	O
:	O
</s>
<s>
Irwin	O
Scollar	O
(	O
creator	O
of	O
AirPhoto	O
SE	O
,	O
a	O
program	O
for	O
the	O
geometric	O
rectification	O
of	O
aerial	O
images	O
&	O
orthophotos	B-General_Concept
from	O
multiple	O
images	O
)	O
,	O
CloudCompare	B-Language
can	O
also	O
import	O
Snavely	O
's	O
Bundler	O
SfM	B-Algorithm
software	O
output	O
file	O
(	O
.out	O
)	O
to	O
generate	O
orthorectified	B-General_Concept
images	I-General_Concept
(	O
directly	O
as	O
image	O
files	O
or	O
as	O
2D	O
point	B-Algorithm
clouds	I-Algorithm
)	O
and	O
an	O
approximated	O
DTM	B-Application
(	O
based	O
on	O
Bundler	O
key-points	O
)	O
colored	O
with	O
images	O
data	O
.	O
</s>
<s>
CloudCompare	B-Language
can	O
also	O
import	O
various	O
other	O
formats	O
:	O
Aveva	O
PDMS	O
'	O
.mac	O
'	O
scripts	O
(	O
supported	O
primitives	O
:	O
cylinder	O
,	O
plane	O
,	O
cone	O
,	O
torus	O
,	O
dish	O
,	O
box	O
,	O
snout	O
and	O
profile	O
extrusion	O
)	O
,	O
SOI	O
(	O
from	O
old	O
Mensi	O
Soisic	O
scanners	O
)	O
,	O
PN	O
,	O
PV	O
,	O
POV	O
,	O
ICM	O
,	O
etc	O
.	O
</s>
<s>
Eventually	O
,	O
CloudCompare	B-Language
can	O
also	O
export	O
Maya	B-Language
ASCII	B-Protocol
files	I-Protocol
(	O
MA	O
)	O
.	O
</s>
<s>
A	O
plugin	O
mechanism	O
enables	O
further	O
extension	O
of	O
CloudCompare	B-Language
capabilities	O
.	O
</s>
<s>
or	O
from	O
external	O
libraries	O
(	O
PCL	B-Language
)	O
or	O
others	O
(	O
e.g.	O
</s>
