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I am trying to project my 3D lidar points onto an image using the KITTI dataset. This is my script to compute the projection for the lidar points

# -*- coding: utf-8 -*-

import numpy as np

# Define Matrices
K = np.array([
    [959.1977, 0.0, 694.4383],
    [0.0, 952.9324, 241.6793],
    [0.0, 0.0, 1.0]
])

P = np.array([
    [707.0912, 0.0, 601.8873, 46.88783],
    [0.0, 707.0912, 183.1104, 0.1178601],
    [0.0, 0.0, 1.0, 0.00620]
])

R = np.array([
    [0.9999019, 0.01307921, -0.005015634],
    [-0.01307809, 0.9999144, 0.0002561203],
    [0.005018555, -0.0001905003, 0.9999874]
])

T = np.array([[0.334], [0.062], [-0.075]])  # Translation vector
R_new = R.copy()
R_new[[0, 2], :] = R[[2, 0], :]  # Swap X and Z rows
R_new[:, [0, 2]] = R[:, [2, 0]]  # Swap X and Z columns
T = T[[2, 1, 0]]  # Swap X and Z in translation
T[1] = -T[1]  # Flip Y-axis translation

# Construct 4×4 Transformation Matrix
T_cam_lidar = np.eye(4)
#T_cam_lidar[:3, :3] = R  # Assign rotation
T_cam_lidar[:3, :3] = R_new
T_cam_lidar[:3, 3] = T.flatten()  # Assign translation

print("4×4 LiDAR-to-Camera Transformation Matrix:\n", T_cam_lidar)
print("Translation Vector T (after processing):\n", T.flatten())

# Function to Project LiDAR Points to Image
def project_lidar_to_image(lidar_points, P, T_cam_lidar):
    """ Project LiDAR points to image plane """
    # Convert LiDAR points to homogeneous coordinates (N, 4)
    lidar_hom = np.hstack((lidar_points, np.ones((lidar_points.shape[0], 1))))  # (N, 4)

    # Transform LiDAR points to the camera frame
    cam_points = np.dot(T_cam_lidar, lidar_hom.T).T  # (N, 4)
    cam_points = cam_points[:, :3]  # Drop homogeneous coordinate

    # 

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                pythonProjecting LiDAR points onto ImageStack Overflow

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