Georeference odm with LiDAR

I was curious if it is possible to use a LiDAR derived point cloud or DEM (dtm, dsm) to help augment the ODM process? I’m still fairly new to ODM in general, but seems like the mvs and dem stages are fairly heavy processes.

This topic might be a bit philosophical or even theoretical… but co-collected direct referenced imagery + LiDAR is becoming more of a commonplace practice for UAV and manned acquisition alike. All these systems are tightly coupled and boresighted/calibrated pretty exhaustively.

Lastly, it is my understanding that ODM only produces DSM based orthophotos (true orthos)? Or is there a way to generate non-true DTM orthos as well?

My apologies if this is a topic previously discussed, but my searches didn’t pull up much. Thanks!