This paper proposes a framework for the calibration of a multi-camera and multi-LiDAR system. It utilizes the Apriltags to build a calibration environment to solve the poses and extrinsics of cameras and then deploy ICP-like algorithm to solve the extrinsics of LiDARs. Compared to previous extrinsic calibration methods, this proposed framework naturally applies to systems with different numbers and configurations of cameras and LiDARs. The calibration procedure produces extrinsics not only accurately and robustly, but efficiently without inconvenient human manipulation. The framework provides general, efficient and standardizable calibration solution for autonomous driving platforms with cameras and LiDARs.