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If you follow the instructions outlined below you will be able to do it.

https://autoware.readthedocs.io/en/feature-documentation_rtd/DevelopersGuide/PackagesAPI/sensing/autoware_camera_lidar_calibrator.html

When you run the command: 　rosrun autoware_camera_lidar_calibrator cameracalibrator.py --square SQUARE_SIZE --size MxN image:=/image_topic make sure you change the square size and size.

Once you have made the camera intrinsic file you will need to use it and create the camera-lidar extrinsic calibration.

If you follow these instructions you will calibrate and save the file needed in your calibration publisher and points image which can be found on the sensing page.