1. A method of model-based scan line encoding, the method comprising: defining a geometry model for describing a scan line of a scan, the scan line including a plurality of scan points; calculating a trajectory model representing an approximate pattern of deviation of the plurality of scan points relative to the geometry model; calculating a plurality of residuals, each of the plurality of residuals associated with a difference between the deviation of each of the plurality of scan points and the trajectory model; and compressing the plurality of residuals.