Issue with export_kitti, The Translation part of P matrix is always kept Zero which might not be correct.

[jaswanthbjk]

It happened when I am working on Lyft Dataset for 3D object detection using Frustum Pointnet.

When performing the LiDAR projection on to image and frustum is extracted. It's doesn't look same as in the original kitti dataset.

The only difference in the whole procedure is the P2 calibaration used,

May be a check's needed