Risley Prism lidar simulator. You can write your own pattern in Lidar class use it instead Riesley.

UI:

Point cloud visualization(from /tools/cpp/complex_image_cloud):

Depencies(Ubuntu 20.04 tested):

cmake >= 3.16
c++17 support
pcl >= 1.8
SDL2
Eigen >= 3.3
imgui v1.83
Glew
Assimp
boost
GLM(header-only)