How can I do calibration between monocular and lidar in gazebo world?

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Hi gazebo users.

I made calibration code for lidar and camera and I've already experimented the possibility in real ground. Actually the program can project lidar point clouds into camera image accurately, however if it is used in gazebo world, it cannot project its clouds correctly. I think this problem is related to camera parameter but I'm not sure. If you have any solution about it, please let me know.

Thanks a lot.