Source code and data are available online: https://gitlab.com/Tachella/real-time-single-photon-lidar

Tachella, J., Altmann, Y., Mellado, N. et al. Real-time 3D reconstruction from single-photon lidar data using plug-and-play point cloud denoisers.
Nat Commun 10, 4984 (2019) doi:10.1038/s41467-019-12943-7