How to get a height map of an object when using a laser scanner?

Question

Scanners

Hello.
There is a barcode scanner at hand (laser).
I plan to create a firmware for it that allows you to read not a barcode, but the shape of an object (that is, something like a height map with depressions and bulges on an object with high accuracy). Which side is best to approach?
If someone has seen manuals on this topic, I will be grateful for the link.