Three tools (apps/camera_lidar_*) supports camera calibration with LIDAR and perofming applying colors to data from session.

• camera_lidar_intrinsics_calib -- checkerboard-based camera intrinsic calibration (OpenCV rational distortion model).
• camera_lidar_calibration -- interactive LiDAR-camera extrinsic calibration: aligns a LAZ/LAS point cloud to a camera image with live GPU-shader reprojection feedback.
• camera_lidar_trajectory_viewer -- multi-camera trajectory/point-cloud viewer that assigns per-point "which camera colored this point" RGB, with LAZ export, plus optional COLMAP sparse-model and ROS 2 bag export.

GNSS with RTK

A portable NTRIP (Networked Transport of RTCM via Internet Protocol) client for M5Stack devices that receives RTK correction data from NTRIP casters and forwards it to u-blox GNSS receivers for high-precision positioning https://github.com/michalpelka/M5NtripClient.