I researched about projecting lidar points onto the camera image but when I try collecting cloud point data then, the amount of data is a lot and I don't have any idea about how to project these many data onto the image. It will be very helpful for my project if anyone can share the idea.
I have already found the camera's Intrinsic and extrinsic parameters using the Aruco marker as a reference point. Also I have tried narrowing the lidar angle facing the Aruco marker to a certain angle so that the data collected will be comparatively less.