The Waystone web app shows bare-earth LiDAR for England and Wales, around 850,000 recorded historic places across Britain and Ireland, Roman roads and the Ordnance Survey six-inch maps of 1843–1913. It needs a big screen and is not ready for phones yet.
On a phone you can open any place's own page, with its LiDAR, its record and the places around it, from the guide to the LiDAR map.
A mobile app is coming to iOS & Android