Method and device for three-dimensional light detection and ranging (lidar), and three-dimensional measuring device thereof

A method of controlling a three-dimensional imaging apparatus having a first imaging device and a second imaging device disposed therein, the method comprising:

• rotating the first and second imaging devices by a first motor about a first rotational axis, the first imaging device having an optical axis extending along a first direction, the second imaging device having a scanning plane extending along a second direction, the optical axis of the first imaging device and the scanning plane of the second imaging device forming a first angle between 0° and 360;
• starting the first and second imaging devices to collect a first and second sets of image data, respectively;
• receiving the first set of image data from the first imaging device and the second set of image data from the second imaging device;
• and
• merging the first and second sets of image data according in part to the angle between the optical axis of the first imaging device and the scanning plane of the second imaging device.