scannet_data/scene0001_00/intrinsic/intrinsic_depth.txt

577.870605 0.000000 319.500000 0.000000
0.000000 577.870605 239.500000 0.000000
0.000000 0.000000 1.000000 0.000000
0.000000 0.000000 0.000000 1.000000