How to use Zenmuse L1 and Zenmuse L2 to record the point cloud？

In MSDK V4, there is a Lidar class to operate the L1 camera. In MSDK, it is called LidarKey.
Globally search the LidarKey and find its entened package co_n. Open the co_n package, you can see and find the relevant keys to use.
You can check KeyScanModeRange to find the scan modes supported by L1 and L2. Call KeyScanMode to set the scan mode.
You can check KeyEchoModeRange to find the echo modes supported by L1 and L2 . Call KeyEchoMode to set the echo mode.
You can call KeyHighSensitivityModeSwitch to set the high sensitivity mode of the L1 camera. This mode suits to be enabled in rainy and foggy weather.
You can call KeyVisibleLightPixel to set the light pixels. It is supported by L1 and L2.
You can check KeyLidarDataSampleRateRange to find the data sampling rate ranges supported by L1 and call KeyLidarDataSampleRate to set the data sampling rate. It is supported by L1 and L2.
You can call KeyPointCloudRecord to start the point cloud record, by monitoring KeyPointCloudExclusiveStatus and KeyPointCloudRecordStatus to know the status during point cloud recording. It is supported by L1 and L2.
Waypoint mission files（.kmz） can also set point cloud parameters.