PiLiDAR is a DIY 360° 3D panorama scanner application for Raspberry Pi. It integrates a LiDAR (LD06/STL27L), stepper motor, IMU, and Raspberry Pi camera to capture 2D scans and photos, then processes them into colored 3D point clouds and 360° panoramas. The system is orchestrated by a main Python script (PiLiDAR.py) that controls hardware, captures data, and runs post-processing pipelines. The codebase is modular with a library of device drivers, calibration utilities, and 3D processing functions. It supports hardware PWM via curve-fitted speed control, automatic exposure and white balance calibration, Hugin-based panorama stitching, and Open3D-based point cloud registration, meshing, and visualization. The architecture is monolithic but well-organized, with clear separation of concerns. Key strengths include robust LiDAR protocol handling, reusable stepper motor control, and a comprehensive point cloud processing pipeline. The project is actively maintained with recent commits and low technical drift, though it requires specific hardware and external tools (Hugin, rpicam-still) to function.