My progress has greatly slowed, full time job, been slow lately/down.

Still on the panorama but I discovered that it's built into CV2 so I went ahead with that.

It's much better than anything I can come up with right now.

So at this point I am able to produce a panorama from 15 images and then crop it.

I put a red dot on the middle/level image for reference so that the beam pointing is correct.

Next I'll do the blob stuff/pair with IMU for navigation. This will take time but I have some holiday time coming up.

You can see some artifacts from the stitching (blurry areas).

The purple dots are from the lidar.

Original panorama looks like this, lots of empty areas

Then when you align the red dot for center of image/pointing, looks like this

I'm still working on rough FOV dimensions