code: def from_intrinsic(cls, width, height, mat):
      fx = mat[0, 0]
      fy = mat[1, 1]
      cx = mat[0, 2]
      cy = mat[1, 2]
      return cls(width, height, fx, fy, cx, cy)
  
file_path: ml-neuman/cameras/pinhole_camera.py
imports: import numpy
label_desc: Use image node_id 3 for calling the PinholeCamera obj's underlying member method code with example usage: obj.from_intrinsic(cls, width, height, mat) and returns: cls