This tool attaches the color information from a RGB image to Laser Points. The RGB Image and the Point Cloud to be colorised are the inputs along with the interior and exterior orientation parameters of the camera. The necessary interior orientation parameters are Focal Length (mm), Pixel Size (um), Principal Point Offsets (pixels) and optionally the Radial Distortion Parameters. The distortion model being used is as follows: x_d = x_u (1 - dR) y_d = y_u (1 - dR) where, dR = K1 * r_u ^ 2 + K2 * r_u ^ 4 + K3 * r_u ^ 6, r_u ^ 2 = x_u ^ 2 + y_u ^ 2, x_u, y_u are the undistorted (corrected) image coordinates in mm, x_d, y_d are the distorted (observed) image coordinates in mm, K1 is in [mm ^ -2], K2 is in [mm ^ -4], K3 is in [mm ^ -6].The necessary exterior orientation parameters are the coordinates of the Projection Center and the Cardan angles Omega, Kappa and Alpha. The Cardan angles refer to the following transformation between image coordinates (x_image) and global coordinates (X_Global): x_image = R_1(omega) * R_2(kappa) * R_3(alpha) * X_Global [Optional] If the Time Stamp of the RGB Image is given, an acceptable time difference between the points and the image must provided in order to colorise only those points falling that range. If no time is given all points are colorised. The result is a colorised point cloud.