How to numerically find Floquet multipliers (e.g., characteristic multipliers or Lyapunov exponents for periodic orbits from chaotic systems)?

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Anyone have any suggestions for the following situation/question? (help wanted, please!)

I understand the theory (c.f., Perko or Nayfeh and Balachandran, Ch.3), but I do not understand how this is accomplished numerically:

Given a (chaotic) dynamical system (for example, I am using the Lorenz system with standard parameters), if I have numerically found (stabilized) an unstable periodic orbit, how would I find the UPO's Floquet multiplier? Note that since the system is nonlinear, there is no explicit formula for the UPOs. In the big picture, what I am trying to do is investigate the various calculations on a chaotic system (dimension, natural measure, etc) that can be approximated by having obtained this information from UPOs (e.g., its numerical stability or Lyapunov exponent).

I am aware that similar questions have been asked here on Stack Exchange:

How to calculate floquet exponents

Finding Floquet Multipliers

but in neither thread is this process demonstrated numerically. The examples in my textbooks all assume an explicit formula for the periodic orbit. Once again, I understand the theory, but not its practice, especially in my case when I do not have an explicit formula for the UPO, just a $(N\times 3)$ matrix of orbit time steps ($N$ is the number of time steps from my UPO solver). I am familiar with Matlab, C/C++, and Python.

Thank you!