1. A computerized method for compressing three dimensional data of a scene, comprising: receiving, by a computing device, data comprising (i) three dimensional data of a scene, and (ii) depth data associated with the three dimensional data; generating, by the computing device, a triangle mesh based on the three dimensional data, the triangle mesh comprising a plurality of triangles, each triangle including three vertices and three edges connecting the three vertices; calculating, by the computing device, for each edge in the triangle mesh, a metric for the edge based on data from the depth data associated with the edge, a length of the edge, and a curvature of the edge; and collapsing, by the computing device, a set of edges based on a metric associated with each edge in the set of edges to generate a compressed triangle mesh.