I have lidar data which I want deploy my users using web viewer.
I will probably hold the data in PostGIS (not sure yet).
Is there good open source/free lidar viewer that I can integrate with OpenLayers site?
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There's an Open Source project especially to read and write LiDAR (and any other source of pointcloud data) format. This library, called PDAL is located at http://www.pointcloud.org/
I've seen demo using OpenLayers reading data from a PDAL source, but can't locate it anymore. Your best bet would be to ask on the mailing-list over there.
Boundless just updated their Lidar Tutorial that does use OpenLayers : http://workshops.boundlessgeo.com/tutorial-lidar/