diff --git a/src/features/preprocess_ki.py b/src/features/preprocess_ki.py
index 8e67d7b..17c4b61 100644
--- a/src/features/preprocess_ki.py
+++ b/src/features/preprocess_ki.py
@@ -109,7 +109,7 @@ class PreprocessKitti:
                         dds.append(dd)
                         self.dic_names[basename + '.png']['boxes'].append(box)
                         self.dic_names[basename + '.png']['dds'].append(dd)
-                        self.dic_names[basename + '.png']['K'].append(kk.tolist())
+                        self.dic_names[basename + '.png']['K'] = kk.tolist()
                         self.cnt_gt += 1
 
             # Find the annotations if exists
@@ -131,7 +131,7 @@ class PreprocessKitti:
                     self.dic_jo[phase]['kps'].append(uv_kps[ii])
                     self.dic_jo[phase]['X'].append(inputs[ii])
                     self.dic_jo[phase]['Y'].append([dds[idx_max]])  # Trick to make it (nn,1)
-                    self.dic_jo[phase]['K'].append(kk.tolist())
+                    self.dic_jo[phase]['K'] = kk.tolist()
                     self.dic_jo[phase]['names'].append(name)  # One image name for each annotation
                     self.append_cluster(self.dic_jo, phase, inputs[ii], dds[idx_max], uv_kps[ii])
                     self.dic_cnt[phase] += 1
diff --git a/src/main.py b/src/main.py
index 02d5c50..522de17 100644
--- a/src/main.py
+++ b/src/main.py
@@ -59,12 +59,10 @@ def cli():
     predict_parser.add_argument('--model', help='path of MonoLoco model to load',
                                 default="data/models/best_model__seed_2_.pickle")
     predict_parser.add_argument('--path_gt', help='path of json file with gt 3d localization',
-                                default='data/arrays/names-kitti-190513-1428.json')
-    predict_parser.add_argument('--dir_calib', default='data/kitti/calib/', help='directory of calib_files')
+                                default='data/arrays/names-kitti-190513-1754.json')
     predict_parser.add_argument('--transform', help='transformation for the pose', default='None')
     predict_parser.add_argument('--draw_kps', help='to draw kps in the images', action='store_true')
     predict_parser.add_argument('--predict', help='whether to make prediction', action='store_true')
-    predict_parser.add_argument('--no_calib', help='use standard intrinsic matrix', action='store_true')
     predict_parser.add_argument('--z_max', type=int, help='', default=22)
     predict_parser.add_argument('--y_scale', type=float, help='', default=1)
     predict_parser.add_argument('--n_dropout', type=int, help='Epistemic uncertainty evaluation', default=0)
diff --git a/src/predict/predict_monoloco.py b/src/predict/predict_monoloco.py
index 90e99db..df6494b 100644
--- a/src/predict/predict_monoloco.py
+++ b/src/predict/predict_monoloco.py
@@ -33,11 +33,6 @@ class PredictMonoLoco:
             print("Monoloco: ground truth file not found")
             print('-' * 120)
 
-        # Check for calibration file
-        if not args.no_calib:
-            self.path_calib = os.path.join(args.dir_calib, basename + '.txt')
-            assert os.path.isfile(self.path_calib), "Calibration file not found. Change dir or use --no_calib"
-
         self.boxes = boxes
         self.keypoints = keypoints
         self.image_path = image_path
@@ -45,7 +40,6 @@ class PredictMonoLoco:
         self.device = args.device
         self.draw_kps = args.draw_kps
         self.y_scale = args.y_scale   # y_scale = 1.85 for kitti combined
-        self.no_calib = args.no_calib
         self.z_max = args.z_max
         self.output_types = args.output_types
         self.show = args.show
@@ -94,17 +88,14 @@ class PredictMonoLoco:
 
         cnt = 0
 
-        if self.no_calib:
+        # Extract calibration matrix if ground-truth file is present or use a default one
+        name = os.path.basename(self.image_path)
+        if self.dic_names:
+            kk = self.dic_names[name]['K']
+        else:
             # kk = [[1266.4, 0., 816.27], [0, 1266.4, 491.5], [0., 0., 1.]]
             kk = [[718.3351, 0., 600.3891], [0., 718.3351, 181.5122], [0., 0., 1.]]
 
-        else:
-            kk, tt = self.get_calibration(self.path_calib)
-            # kk = self.get_simplified_calibration(self.path_calib)
-
-        # kk = [[1266.4, 0., 816.27], [0, 1266.4, 491.5], [0., 0., 1.]]
-        # self.factor = 1
-        # self.y_scale = 1
         (inputs_norm, xy_kps), (uv_kps, uv_boxes, uv_centers, uv_shoulders) = \
             self.get_input_data(self.boxes, self.keypoints, kk, left_to_right=True)
 
@@ -140,7 +131,6 @@ class PredictMonoLoco:
 
         # Print image and save json
         dic_out = defaultdict(list)
-        name = os.path.basename(self.image_path)
         if self.dic_names:
             boxes_gt, dds_gt = self.dic_names[name]['boxes'], self.dic_names[name]['dds']