A point cloud is a set of vertices in a three-dimensional coordinate system. These vertices are usually defined by X, Y, and Z coordinates, and typically are intended to be representative of the external surface of an object. Point clouds are most often created by LiDAR or 3D scanners. These devices measure in an automatic way a large number of points on the surface of an object, and often output a point cloud as a data file. The point cloud represents the set of points that the device has measured.