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@matdogg thanks for kind works! I did try multi-threading to speed it up but it always crashed the game. Good luck for your project!

@ravishk I designed this for static scenes initially. I had plans to further develop it to moving scenes but performance was a huge obstacle. I tried to multi-thread the point cloud generation but all my approaches would crash the game.
About going underneath the world: I am using the default gameplay camera as the source point. It would be a good idea to use a source point defined by yourself.
The source-code is available, feel free to modify it to your liking: https://github.com/UsmanJafri/LiDAR-GTA-V

@murarin I tried a multi-threading based approach to generate the point-cloud in parallel on multiple cores. All of the approaches would crash the game.

@ihexx CloudCompare is a popular point cloud viewer. Here's the link: https://www.danielgm.net/cc/

@MrGTAmodsgerman Thanks for your comment. LiDAR is a sensor (like RADAR) used in self-driving cars and making 3D maps. This is a GTA simulation of the sensor.

@Cyron43 Thanks for your comment. I am currently working on self driving cars and GTA's highly interactive environment is perfect for this. Real self driving cars use a range of sensors including LiDAR so I thought I could experiment with simulating a LiDAR sensor device in GTA.
Some use cases:
- LiDAR data could be use with some machine learning back-end perhaps for self driving purposes.
- Or perhaps existing LiDAR datasets can be augmented by including GTA LiDAR data like this.