Extrinsic and intrinsic matrices after ImageAug3D and GlobalRotScaleTrans

[ME-SJTU]

Hi, thank you for your nice work.
I noticed that the fusion with images delivers five parameter matrices, including lidar2img, cam2img, lidar2cam, img_aug_matrix, and lidar_aug_matrix. During training, it was found that the direct use of lidar2img was not aligned. I would like to ask whether cam2img and lidar2cam are transformed. If I want to get the real lidar2img after transformation, do I need to use these two for calculation? Or do img_aug_matrix and lidar_aug_matirx need to be taken into account? Thank you.