calibration results and spinning lidar correspondences

[flyingKangaroo1]

{
"camera": {
"camera_model": "plumb_bob",
"distortion_coeffs": [
-0.00098,
-0.061678,
0.001829,
0.002186,
0.0
],
"intrinsics": [
660.18688,
658.82734,
319.45651,
231.64451
]
},
"meta": {
"bag_names": [
"fusion_calib_left.bag"
],
"camera_info_topic": "/usb_cam_Left/camera_info",
"data_path": "/home/bagfile/fusion_calib_left",
"image_topic": "/usb_cam_Left",
"intensity_channel": "intensity",
"points_topic": "/velodyne_points"
},
"results": {
"T_lidar_camera": [
-0.06403595011013385,
-0.036464960602661224,
0.014476679560806768,
0.2996010020957876,
0.7435102445224283,
-0.5556526405514602,
0.22063974909700318
],
"init_T_lidar_camera_auto": [
-0.06777447888125786,
-0.03488328124090799,
0.016545161658551754,
0.299084931730147,
0.7422673669594864,
-0.5533139315584991,
0.23115157949337295
]
}
}

hi using your model with velodyne vlp16 lidar and logitech c920 webcam i was able to get the above results. how do you visualize the results as to verify that the results are correct?

using initial_guess_manual, it looks like it is very hard to find correspondences for spinning lidar like the above image. For spinning lidar, how do you manually find the correspondences needed for calibration?

i was only able to get the correspondences using superglue like the image below.

thank you!