1. A method for indoor 3D surface reconstruction and 2D floor plan recovery by segmenting a plurality of objects and building structure elements from a building scan using an electronic computing device, the method comprising: causing the electronic computing device to capture the building scan, wherein the building scan includes a plurality of scan points; pre-processing scan data from the building scan; generating an octree and a 2.5D model from the pre-processed scan data; extracting interior and exterior volumes from the octree model and the 2.5D model; and meshing the extracted volumes to generate a 3D object geometry and a 3D building geometry, wherein the 3D object geometry corresponds with the plurality of objects and the 3D building geometry corresponds with the indoor 3D surface reconstruction of building structure elements.