Resolution of the LIDAR

Resolution of this LIDAR depends on distance to the object, object surface type (color), and incidence angle value.

I had tested distance measurement quality is scanning mode, using "LidarScanningTest" utility. This utility allows to calculate scattering of the measured distance values in given direction (only for one laser beam). Calculated results are looking so:

This histogram is calculated by 20 last scans, captured from the LIDAR. Values at the horizontal axis are in centimeters, values at the vertical axis are number of scans.
Distance to the object is 10.13m, standard deviation is ±1.1 cm (1 sigma), total distances scattering is 3cm.

Here are another measurements:

You could see here that maximum scattering at 30m is 30cm (1% from the distance value).

All these measurements were captured with "PCB_project_v4".
Laser voltage: 16V
APD voltage: 130V
Comparator : 50mv

Testing Lidar without scanning mirror

Lidar was tested with two types of lenses: one is factory made, with entrance pupil diameter - 14 mm, and other is simple single lens with ~24mm entrance pupil diameter.
Target was white/gray wall.
"14 mm gray" line was plot using data above (with scanning mirror).