title: How to generate 3D point cloud from Lidar range data
body: <p>I have a set of videos that were captured by a lidar. My data is raw, meaning that each video file contains range and intensity (gray scale) data. Now, I want to create 3D point cloud from range data. Based on what I read, the Lidar data that I have looks pretty much the same as Kinect data (depth + intensity). But, while there are codes and equations that let you convert Kinect depth to 3D point cloud, I haven't found any such equation for the Lidar data. I hope someone could help me with an equation or a sample code (preferably in Matlab) that does the conversion from Lidar range data to 3D point cloud.</p>
  
  <p><strong>Edit:</strong> The videos that I have contain human targets both indoors and outdoors. Unfortunately, I cannot share any data. The lidar camera that was used for video recording is TigerCub 3D flash Lidar. I don't have any access to the camera, only have the data. Also, I checked the manual of the camera, but couldn't find any information that would be helpful. Just like Kinect, I thought there must be a relation between range (depth) data and 3D point cloud, and all I need is such an equation to help me generate 3D point cloud.</p>