1. A method comprising: projecting, by use of a processor, swath point projection coordinates of each lidar point of texel swaths into a corresponding texel swath with normalized projection coordinates, wherein each texel swath comprises lidar points, an optical image, and swath output projection point coordinates of the lidar points into the optical image; generating a projection matrix comprising lidar point data for each lidar point of each texel swath, wherein the lidar point data comprises the normalized projection coordinates; calculating enhanced lidar coordinates for each lidar point as a function of minimizing misregistration errors; creating enhanced output pixel coordinates for each image pixel based on the enhanced lidar coordinates for the lidar points and the associated output pixel coordinates; and generating a textured digital elevation model based on the enhanced output pixel coordinates for each image pixel, and the enhanced lidar coordinates.