55CAE1613CE7C5EBF542ECDF2E144D0F.jpg

RT：
[[ 1.01316347 -0.02689314 0.01102293 0.02335231]
[ 0.02495939 1.00718317 -0.01308865 -0.0021208 ]
[-0.01617026 -0.01269864 0.99327454 -0.05971678]
[ 0. 0. 0. 1. ]]

mtx:
[[597.89122106 0. 313.48697554]
[ 0. 591.8820279 202.86033956]
[ 0. 0. 1. ]]

dist
[[ 6.33305232e-02 -4.42484696e-01 -6.85885161e-03 -1.34188673e-03 2.04042667e+00]]

img_pts, jac = cv2.projectPoints(cam_pts, (0, 0, 0), (0, 0, 0), mtx, dist)
ch.draw_circle(img, img_pts, r=7, color=(255, 255, 0), thickness=2)

cam coord to lidar coord

x, y, z = pt[2], -pt[0], -pt[1]

lidar coord to cam coord

pt = np.dot(RT.I, livox_xyz)
x, y, z = -pt[1], -pt[2], pt[0]