Calibration File

[codexxxl]

Hey Sir!

Could you please advise me what is the use of camera calibration file in general. I looked into the txt file of it, it is some complicated math matrices involved, so I am having difficulties to relate that to the Velodyne LiDAR input. I wonder if this kind of calibration file necessary for your code, or it is more like a supplementary procedure to increase the accuracy? cause I found that the testing algorithms actually do not utilize anything from the calibration file.

Thank you so much for your help!