Lidar to Camera calibration

I am using drivePX2. When I record cameras and riders with the recorder in the driveworks SDK, Can driveworks calculate lidar-camera extrinsic parameters?

I checked it in the material below.
(Please check the 12page, it’s maybe tools/calibration-qt?)

But there is not enough information. How can I use it?
If it is possible in driveworks sdk 0.6, please guide me.