It is interesting to see the different solutions and approaches being explored to synchronize the Ricoh Theta V camera with LiDAR and other devices to create 3D maps and point clouds. Although stopping movement to capture images seems to be a common solution to avoid the “jelly” effect, it is also important to consider the accuracy and resolution of the captured images. In addition, calibrating the intrinsic parameters of the Ricoh Theta V camera can be a challenge but is essential for achieving accurate and reliable results. It would be interesting to learn more about calibration methods and how synchronization techniques can be improved to achieve greater accuracy and quality in the results.
as far as I know, the intrinsic parameters are not available.
To be honest, with my basic knowledge, I’m not sure how the transformation matrix is used to sync the two cameras.
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Hi! 
I wonder if you can show how to projecting LiDAR pointcloud onto equirectangular images. I have tried times but there are always problems with coordinate transformation.
The THETA Lens Spec is now available for X, Z1, V.
theta-api-specs/theta-lens at main · ricohapi/theta-api-specs · GitHub
As far as I know, there is no way to sync the THETA internal clock with an external clock.
If you are using video files, the video Metadata Spec is avaiable.
theta-api-specs/theta-metadata at main · ricohapi/theta-api-specs · GitHub