Point cloud from lidar lite v3 data

I have connected a lidar lite v3 to a navio2+raspberry pi 3B using i2c connection and bread board.

I would like to, somehow, use the lidar range data combined with gps location, direction and attitude etc data from a mission planner tlog to create a point cloud. The aim is to create a low cost, portable, lidar scanner for use outdoors to capture building facades, trees, and general ‘landscape’ items.

Does anyone have any advice on how this could be achieved? The intention is to have a mobile lidar scanner ie one that is hand-carried to scan features.

Thanks in advance!

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