This paper summarizes the design of the electro-mechanical and software implementation of a single-ray LiDAR-scanner system for the dense 3D reconstruction of static scenes. A test bench was designed aiming to acquire precise distance measurements, using a single-ray Garmin Lite V3 LiDAR, and transform them into a high-resolution point cloud. The goal is to demonstrate the algorithm behind the laser: time-of-flight based 3D reconstruction technique. The yawing scan and pitching scan methods (rotation of the sensor around two orthogonal axis (yaw and pitch)) are used for the current application. A microcontroller application based on the Arduino Uno board was designed and implemented to acquire data from the LiDAR at different positions. Since the LiDAR is a one-dimensional sensor, the electro-mechanical setup must be capable of achieving the second and third dimensions. The information from the scanner is collected based on the spherical coordinates: 9-polar rotation angle (yaw), $\varphi$–azimuthal angle (pitch) and r-Euclidian distance. An accelerometer based PID control algorithm was developed to set the sensor at an initial azimuthal angle, prior to the scan. A desktop application was designed to collect the information from the sensor. It includes a graphical user interface used for setting the scan parameters or commencing a scan routine. A data processing application takes the acquired measurements and calculates the Cartesian coordinates of each pixel based on the parameters of the scan. A3D reconstruction of the scan field of view is generated. The systematic errors of the system have also been calculated using a static reference scenario. Additional experiments in several static scenarios were performed for the quantitative and qualitative assessment of the results.