Static scanning LiDAR sensors provide unparalleled accuracy but are expensive and not designed for autonomous robotics. To overcome this problem, we designed and built an affordable LiDAR-camera system that is capable of colorized static scanning with high density and accuracy, 360-degree video streaming for teleoperation and visualisation, and doubling as a navigation LiDAR and camera system. Additionally, we explored and developed automatic intrinsic and extrinsic calibration methods to ensure accurate colorization and proper 360-degree image generation.