last summer i wrote code to talk to the ydlidar x4 lidar – 360-degree laser range scanner. it was quite difficult to parse the data and get correct readout of the point cloud. the X4_Lidar_Development_Manual.pdf had all the information but it was quite obscure.
i also added tracking (red cross in the screenshot) to figure out coordinates of a person moving around in a room. nothing fancy but worked ok.
see attached code. it is for unity3d and written in c#.