It is not clear what you mean by a "standard one" The unit is a Lidar scanning sensor the same as any other and will produce a continuous scanned line of data out to its max range but it is very low spatial resolution at 0.25 degree scan step angle.

To create a 3D points cloud you need to move it in some direction and record the data but in order to reference all the data points to the scanner point of origin you need to associate it with an IMU and a GPS clock

Randall Francis Thank you so much for your reply. Specially I need some recoded data from others for testing my system to compare it.

I have used Rplidar A2. If you want to know how the data structure that i am getting from Rplidar i can infrom you .

Thank you. I am also using 2d Lidar. Can you share some video data of this of a person's walking? Kazi Goni

Mahmudul Hasan Sorry for the late reply. Rplidar gives you data as an array and it look like this [(15, 0.123, 1),(15, 5.00, 1.989),(15, 10.345, 1.555)] Where 15 represent the quality of the signal and then angle and the distance. From the angle and distance, you could decide how far the object is. You can have a look at this link: https://www.youtube.com/watch?v=pVNy5cN0Reg

Here I have detected the obstacle using Rplidar within a certain range.