code: def st2_camera_intrinsics(filename):
      w, h, fx, fy, hw, hh = np.loadtxt(filename)
      return np.asarray([[fx, 0, hw], [0, fy, hh], [0, 0, 1]])
  
file_path: ARKitScenes/threedod/benchmark_scripts/utils/tenFpsDataLoader.py
imports: import copy
  import cv2
  import glob
  import json
  import numpy
  import os
  from .box_utils import compute_box_3d, boxes_to_corners_3d, get_size
  from .rotation import convert_angle_axis_to_matrix3
  from .taxonomy import class_names, ARKitDatasetConfig
label_desc: Use image node_id 2 for calling a global function with example usage: st2_camera_intrinsics(filename) and returns: np