@Anonymous - in most cases you don't want to create technical drawings directly from a point cloud. The real world is rarely straight, level, square, and/or plumb, while drawings are almost always an idealized state i.e. objects are perfectly straight and level (or vertical), connections are always at 90 degrees, lengths are always a rational number, and so on.
Chances are in the process of documenting the real world situation you'll have to make a number of judgment calls to create a workable drawing. For example, a simple door frame may have been pushed a degree or so out of plumb, and be a bit wider at the bottom than the top; in real life it swings shut on it's own and sticks a bit. On the drawing you're more than likely going to just drop in an industry standard door object, perfectly vertical so it can be easily dimensioned, reported, and updated at some future point.
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If you are going to fly by the seat of your pants, expect friction burns.
"I don't know" is the beginning of knowledge, not the end.