--- upstream/precheck_4dvis.py
+++ tools/precheck_4dvis_nominal_intrinsics.py
@@ -582,11 +582,7 @@
     export_image_tactile_videos(episode, args.data_path, args.episode_idx)
 
     # a random intrinsic matrix
-    intrinsic = np.array([
-        [640, 0, 320],
-        [0, 480, 240],
-        [0, 0, 1]
-    ])
+    intrinsic = np.asarray(episode["camera_ego_intrinsics"][0], dtype=np.float64)
 
     visualization(videos, intrinsic, pointclouds_vis, camera_poses, left_wrist_pose, right_wrist_pose, left_finger_pos,
                   right_finger_pos)