Algorithm of Lidar-Camera Projection

[fangkd8]

In the projection part, your algorithm is to remove the points outside the camera frame by using distances and angles. But I cannot find the theory which support this way.

Actually we can use the whole pointcloud with Extrinsic and Intrinsic matrix to get the results of [x, y, w], then remove the points with w<0. This way is more understandable.