Dmytro Bobkov comments

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                                            Dmytro Bobkov

Will it support for LiDAR data specifically LAS format and PCD format?

One can easily convert PCD and LAS format to .txt format and then to hdf5 or similar using Python or Matlab. See https://stackoverflow.com/questions/44408141/how-to-convert-las-file-to-ply-file?utm_medium=organic&utm_source=google_rich_qa&utm_campaign=google_rich_qa for more info. Liblas library for python...

Undeclared transform_to(pose, pt2_)

Develop branch of gtsam has changed since then. To adapt to that, change the line `Point3_ pt2_1_ = transform_to(pose, pt2_);` to `Point3_ pt2_1_ = transformTo(pose, pt2_);`

point cloud of the building

A proper way to convert a mesh into point cloud representation is to use mesh_sampling (https://github.com/PointCloudLibrary/pcl/blob/master/tools/mesh_sampling.cpp), which will generate points uniformly from the faces of the mesh.

category_id=-1

I think faces with category_id=-1 simply don't have a label.

Can't read data inside HDR images(.jxr format)

You can use [Xnviewmp](https://www.xnview.com/en/xnviewmp/) or GIMP [plugin](https://github.com/chausner/gimp-jxr) for viewing. Works for me under Ubuntu 16.04.