title: Reproducing KITTI calibration format from Autoware lidar-camera calibration
body: <p>Autoware calibration file for the camera-LiDAR setup:</p>
  <h2>%YAML:1.0</h2>
  <p>CameraExtrinsicMat: !!opencv-matrix
  rows: 4
  cols: 4
  dt: d
  data: [ 5.7485824720057921e-02, -2.2015060517438068e-02,
  9.9810356029155001e-01, 1.5871758460998535e+00,
  -9.9773309474674776e-01, -3.6302750979794518e-02,
  5.6663761950436042e-02, 3.3742961287498474e-01,
  3.4986448852825702e-02, -9.9909831717489750e-01,
  -2.4052048040780927e-02, -7.8092020750045776e-01, 0., 0., 0., 1. ]
  CameraMat: !!opencv-matrix
  rows: 3
  cols: 3
  dt: d
  data: [ 3.4264173924362385e+03, 0., 1.1750055482979822e+03, 0.,
  3.4271319432011160e+03, 7.0638529565366980e+02, 0., 0., 1. ]
  DistCoeff: !!opencv-matrix
  rows: 1
  cols: 5
  dt: d
  data: [ -3.9114669187524842e-01, 2.0517211877662116e+00,
  1.3425702389588642e-03, -1.0323895351449207e-03,
  -8.2463512974303352e+00 ]
  ImageSize: [ 2064, 1544 ]
  ReprojectionError: 0
  DistModel: plumb_bob</p>
  <p>KITTI calibratio file for a pair of image and its corresponding velodyne point cloud:</p>
  <p>P0: 7.215377000000e+02 0.000000000000e+00 6.095593000000e+02 0.000000000000e+00 0.000000000000e+00 7.215377000000e+02 1.728540000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00
  P1: 7.215377000000e+02 0.000000000000e+00 6.095593000000e+02 -3.875744000000e+02 0.000000000000e+00 7.215377000000e+02 1.728540000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00
  P2: 7.215377000000e+02 0.000000000000e+00 6.095593000000e+02 4.485728000000e+01 0.000000000000e+00 7.215377000000e+02 1.728540000000e+02 2.163791000000e-01 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 2.745884000000e-03
  P3: 7.215377000000e+02 0.000000000000e+00 6.095593000000e+02 -3.395242000000e+02 0.000000000000e+00 7.215377000000e+02 1.728540000000e+02 2.199936000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 2.729905000000e-03
  R0_rect: 9.999239000000e-01 9.837760000000e-03 -7.445048000000e-03 -9.869795000000e-03 9.999421000000e-01 -4.278459000000e-03 7.402527000000e-03 4.351614000000e-03 9.999631000000e-01
  Tr_velo_to_cam: 7.533745000000e-03 -9.999714000000e-01 -6.166020000000e-04 -4.069766000000e-03 1.480249000000e-02 7.280733000000e-04 -9.998902000000e-01 -7.631618000000e-02 9.998621000000e-01 7.523790000000e-03 1.480755000000e-02 -2.717806000000e-01
  Tr_imu_to_velo: 9.999976000000e-01 7.553071000000e-04 -2.035826000000e-03 -8.086759000000e-01 -7.854027000000e-04 9.998898000000e-01 -1.482298000000e-02 3.195559000000e-01 2.024406000000e-03 1.482454000000e-02 9.998881000000e-01 -7.997231000000e-01</p>
  <p>For extrinsic camera-LiDAR calibration and sensor fusion, I used the Autoware camera-LiDAR calibration tool. Now I want to use the KITTI calib format and use its files for road detection. I could not figure out how it is possible to use extrinsic matrix obtained by autoware in the kitti format. If you used this before, can you help me out how I should use rotation and transformation metrices for this purpose?</p>