Troubleshooting Cameras

Using rosbag export

from pykitti.utils import read_calib_file
  calib_cam_to_cam = read_calib_file('calib_cam_to_cam.txt')
  calib_lidar_to_cam = read_calib_file('calib_lidar_to_cam.txt')

  lidar_to_cam = Transform.from_Rt(
          calib_lidar_to_cam['R'].reshape(3, 3),
          calib_lidar_to_cam['T'],
          )

  scene.get_camera(0).calibrate(
          pose=lidar_to_cam.inverse,
          K=calib_cam_to_cam['K_00'].reshape(3, 3)),
          D=calib_cam_to_cam['D_00'],
          )

See also

camera.calibrate has different params alternatives, you can see the camera.calibrate definition here