By comparison, actual pro scanning: matterport grabs textures and verticies simultaneously, originally using a Kinect. https://matterport.com
Here's an DIY instuctable (untested) which also uses a Kinect http://www.instructables.com/id/EASY-Kinect-3D-Scanner/
The Kinect range IIRC is less than most LIDARs so it won't be 1:1.