How to get detection of the camera and lidar pair ?

Hi,

I have an issue with the calibration of camera and lidar. I would like to know whether the process which I have done is proper or not! But I followed your instructions (Mathworks), but still not getting the matched detection pair.

1. with the help of checkerboard pattern, have captured the data from camera and lidar
2. captured the data as a frames through mScript.
3. Lidar data captured through the veloview, as a pcap file. From pcap file, pcd file has extracted with the help of matlab convertion. Here is the issue that number of frames in camera and pcd data are different. I couldn't find the similar frames to do the calibration.
4. another issue is, when i upload the lidar data, there won't be the proper ROI to detect the checkerboard. when i tried to adjust the ROI, placing of the ROI box is not happened.
5. Sometimes, 1 frame will get matched but it was detected the different region from the checkerboard pattern.

My obervation from this issues,

1. Due to different frame rate of lidar pcd data extraction from the pcap file, number of frame pair count is varying.
2. Due to the different frame rate issue, couldn't detect the detectected pair.
3. Due to improper ROI, detection is not happened.

Guys, Please let me know what i have missed and where should I concentrate or do the changes!!!!

I would like to try with cropped pcd data, but I didn't know. If someone helps me to crop the particular region of the input pcd data, will be more helpful to do this analysis.

or

Is any way to capture the sensor data at specified angle? (am using VLP-16 sensor)

Kindly assist me on this...

Thanks in advance.