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 collected during a mechanical sweep of a laser scanner, wherein the geometry model describes the scan line relative to mechanically-driven components of the laser scanner, and the scan points deviate relative to the geometry model as a result of misalignments or offsets of the laser scanner; calculating a trajectory model representing an approximate pattern of the deviation of the plurality of scan points collected during the mechanical sweep of the laser scanner relative to the geometry model resulting from the misalignments or offsets of the laser scanner; calculating a plurality of residuals, wherein each of the plurality of residuals represents a difference between each collected scan point of the plurality of scan points collected during the mechanical sweep of the laser scanner and the trajectory model representing the approximate pattern of the deviation of the plurality of scan points relative to the geometry model; and compressing the plurality of residuals.