working with pointcloud data

[chris-aeviator]

It would be interesting to work with existing pointcloud data instead of SFM Colmap data. For example the E57 file format has rich metadata as well as panorama images (which we can undistort) and would IMO allow to plug the colmap implementation into it. An example E57 file can be seen at https://static.matterport.com/misc/UoqjwziqrZs-Aon_Lobby.e57 (1.15 GB).

Any ideas on where to start?