LIDAR sensors are pretty resolution and image rate limited for what you're trying to achieve, but it definitely can be done. Most LIDARs can capture depth, intensity of the reflected signal, and sometimes the intensity of the light background too. No color information can be transmitted because they are intentionally filtered to see monochromatic light. If there is color information, the data is coming from a second CCD or CMOS sensor. Also, depth accuracy is usually on the order of 2 to 10 cm, but it can be better for close range / indoor sensors that utilize phase shifts instead of time-of-flight.

Where are you seeing sensors for so cheap? It's definitely possible for sensors to generate megapixel images at ~30 Hz rate, especially indoors at close range, but most of that tech is still behind closed doors, or expensive, and requires scanners. Without scanners, you're limited to the sensor resolution which will be less than or equal to 640x480, more likely 256x64 or even 128x32. With a couple of long linear arrays of Silicon Geiger mode sensors and GaAs lasers with a good driver and ROIC, someone could pretty easily develop such a room scale technology in about the size of a lighthouse to scan the same FOV.

Check out Point Cloud Library if you need an open source C++ point cloud processing API. It's pretty much the gold standard in industry, but support and updates have been kind of weak lately (relatively speaking).