I used an Avia Livox LiDAR payload on a DJI M300 RTK UAV for mapping missions. Mission planning was completed in advance with the DJI Pilot app. A custom camera configuration was employed because the camera and LiDAR sensor were co-aligned.
PPK processing was performed afterward to resolve the accuracy limitations of RTK and other real-time positioning data.

Point cloud data is processed and camera images are aligned and projected onto points for true RGB color values added to point cloud data.