I am working on object detection task. I am able to detect objects in kitti point cloud. I am trying to use the same code on my own point cloud dataset. In Kitti dataset the camera and lidar sensor share different coordinate systems. I have attached image here for reference. For camera the axis are (z,x,y) and for lidar the axis are (x,y,z).
For KITTI dataset they have also provided calibration information. I am able to understand the projection matrix for KITTI dataset.I went through few materials. Camera-Lidar Projection.
In the above link he has calculated projection matrix as:
R_ref2rect_inv = np.linalg.inv(R_ref2rect)
P_cam_ref2velo = np.linalg.inv(velo2cam_ref)
proj_mat = R_ref2rect_inv @ P_cam_ref2velo
My question is: For my dataset the sensor setup is almost same so we can say lidar and camera share the same coordinate system. So, in this case how do I project point from camera to lidar?
In other words, If my object center is (x=7.5, y=1.7, z=0.58) in camera coordinate system then how do I find the same point in Lidar pointcloud?