Coordination issue with velo2cam method using zed stereo camera and velodyne 16-channel lidar

[SharimieAdam]

Hello everyone, I am experiencing an issue with the coordination of point cloud data from a ZED stereo camera and a Velodyne 16-channel 3D lidar. Despite launching the calibrated_tf file, the final point cloud data is not calibrated properly. It seems that the axes between the stereo camera and the Velodyne are not mapped correctly. Can anyone provide guidance on why this might be happening, or suggest some troubleshooting steps to help resolve this issue?.

Camera pointcloud:

Lidar pointcloud:

After launch calibrated_tf.launch, the result is:

TF between lidar and camera: