Lidar apparatus comprised of computer hardware, electronic hardware, recorded computer vision software and recorded software tools for the lidar apparatus, including detectors and sensors, and embedded recorded software, all for scanning, detecting, identifying, tracking and classifying objects in the environment, for measuring distances between objects in the environment, and for analyzing and mapping visual data and generating 3D maps of the environment; downloadable lidar dedicated software for scanning, detecting, identifying, tracking and classifying objects in the environment, for measuring distances between objects in the environment, and for analyzing and mapping visual data and generating 3D maps of the environment; recorded lidar dedicated software for scanning, detecting, identifying, tracking and classifying objects in the environment, for measuring distances between objects in the environment, and for analyzing and mapping visual data and generating 3D maps of the environment; safety system comprised of recorded and downloadable lidar dedicated software for use in preventing accidents