Image-mapped point cloud with ability to accurately represent point coordinates

A laser scanner scans a scene to form a point cloud representing points on a surface within the scene. The point cloud is used to create a corresponding visual representation of the point cloud from a single eye point that is displayed as an image array, such as a cube map, on a computer screen. Each point of the point cloud is represented on the computer screen as a pixel having a value other than a background value. An offset is determined between a reference position of the pixel and an intersection point, which is the point at which a ray from the point to the scanning position intersects a plane coincident with plane of the computer screen including the pixel. The offset is stored in an offset grid, whereby each pixel of the image array has a corresponding offset value in the offset grid. That is, the invention provides for encoding actual point coordinates with respect to the pixels of the image array by storing depth and angular offsets at each pixel in the image array that has an associated point. If the point spacing in a certain region is wider than the image array pixels, the gaps can be filled with, for example, RGB values to make the displayed image continuous.