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I have built a system which has some similarity with yours, the only difference is my sensors were placed on a tilt platform so it was able to produce 3D scans. I developed an automated calibration system which is described in this paper.

This system calibrates the intrinsic values of the cameras lens model at the same time as the extrinsic transformation between the two sensors by matching the IR reflectance readings from the LiDAR with the intensity of the camera image.

I'm not sure sure this is relevant in your case with the RPLIDAR. What exactly are the calibration parameters you're trying to determine?