Object mapping /point clouds using Lidar scanners and Arducopter

Hi, I have problems googling the correct key words I guess… I am interested in learning about how 3D point clouds can be generated from an arducopter. Something like this:

I mean, I have the attitude and position, together with some line scanning lidar, it should be possible to generate a suitable point cloud “easily”. Can you point me to some resources? There must be existing open source solutions…Thank you!!

I still didn’t find a solution, here are some interesting links, however: