lidar-camera calibration problem

[MatteoMariani99]

I am trying to perform calibration between a LiDAR and a camera to obtain the extrinsic matrix. The camera is mounted above the LiDAR (as shown in the GIF of LIV_HANDHOLD). For the calibration, I am using this repository.

The parameters I obtained are:

Camera resolution: 640x512

Rcl: [-0.0116013, -0.99976, -0.0185653,
0.0242308, 0.01828, -0.999539,
0.999639, -0.0120458, 0.0240129]
Pcl: [0.00435166, 0.0105984, -0.0521878]

However, these values are incorrect for how the sensors are mounted.

What can I do to fix this?