Write tool to recover camera pose using LIDAR

[kev-the-dev]

Originally proposed by Tess:

On NaviGator, we have a pretty accurate transform from our GPS/INS to the LIDAR because it is rigidly mounted with simple geometry (the CAD model tells us). However, the camera transforms were measured and likely have significant error. It is mathematically possible to recover the pose of the camera in the LIDAR frame by identifying the same features in a LIDAR pointcloud and an image frame. This would improve our transforms.

[jaxnb]

I can work on this one! I've done alot of LIDAR registration in the past, I'll certainly look into LIDAR/Optical image registration!