How to simulade a 2d lidar scan with color measurements

Hello,

I made a 2d lidar scan simulator that also simulates a color measurement. Briefly, what I did was using ground truth being "colored segments", and for the range and color measurements, checked made segments the lenght of a maximum range around the scanner and checked if those segments intersect with the map.

This works like I want it (mostly), however, it's really slow.

I was wondering if it was possible to use Simulate range-bearing sensor readings, and then add a step that gives the points a color that would come from a ground truth map, but I have no idea how. I tried searching a bit with no success.

My first idea is to have that extra step to be some kind of matching between the simulated 2d point cloud and a ground thruth (like a scanner with a range sensor + color camera).

Do you have any ideas ?

Thx in advance for any input.