def parse_calibration(self, filename):
        """ read calibration file with given filename

            Returns
            -------
            dict
                Calibration matrices as 4x4 numpy arrays.
        """
        calib = {}

        calib_file = open(filename)
        for line in calib_file:
            key, content = line.strip().split(":")
            values = [float(v) for v in content.strip().split()]

            pose = np.zeros((4, 4))
            pose[0, 0:4] = values[0:4]
            pose[1, 0:4] = values[4:8]
            pose[2, 0:4] = values[8:12]
            pose[3, 3] = 1.0

            calib[key] = pose

        calib_file.close()

        return calib
 read calibration file with given filename

            Returns
            -------
            dict
                Calibration matrices as 4x4 numpy arrays.
        
dataloader/pc_dataset.py