The LiDAR scanner is a 4 inch (100 mm) clear aperture optical scanner incorporating a slip ring on the azimuth bearing to prevent cable wrap up. A remote controlled color video camera is located next to the optical aperture to aide setup. Control of both motors is via one RS232 connection. The motors are fully programmable if a repetitive scan is required, or dynamic mode commands enable the scanner to be positioned directly from controlling software, or from other means such as joystick or motion compensation devices.