lidar calibration in driveworks

I would like to add a depth channel to an RGB camera supported by driveworks. (with using the lidar sensor)

  1. So, I need to calibrate between the RGB camera and the lidar sensor. Is this supported by the driveworks tool?

  2. The dwLidarAccumulator_fillImage API in drivework only provides a Cylindrical image. Can I create a plane image?