Wrong Lidar projection on 2d image

[wangjiyuan9]

Dear Author for the CADC dataset:
Thank you for your amazing contribution.
Now I'd like to show the result of the 2d projection of the lidar point:

I directly use the 'run_demo_lidar.py' and set DISTORTED=False, there are a lot of wrong points!


Am I use the wrong projection methods or the labels are originally wrong?