projection from Lidar to camera

[Git89]

Hi!
Thanks for the greatest work. I got a problem while using the calibration result to do projection from Lidar to camera.

Hardware: Logitech web camera (Mono), VLP-32C Velodyne
Hardware setup: camera is placed on top of Lidar. Camera and Lidar both face front. No Gap between camera and Lidar.
Parameters files:
For aurco_mapping

For Lidar_camera_calibration

Results:

Question1
the ypr I got is (2.18,-1.42, -0.60) degree is (142,-81,-34).
Is this result correct based on my hardware setup?
If not, are there any suggestions you can give me?
Anyway, I can not project any points from Lidar to camera frame now.
Question2:
why does final rotation not come with a final translation?
which results should I use when I do projection? ypr or final rotation or average rotation and translation?
Any additional information can be provided if needed.
Many thanks in advance.

[AnthonyLadewig]

Hi Git89,

How are you projecting the lidar to camera?