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Creating orthomosaic from *.las point cloud in R

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Is there a way to export a *.las point cloud in R to a orthomosaic? I loaded my las-file containing the points with the package lidR. I want to export a tif which shows the point cloud from above in RGB, similar to what an orthophoto would look like. The data was collected using a terrestrial laser scanner.

point cloud

this is what I want


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