code: def camera_poly(self, size=1):
      _, dir_0 = ray_utils.shot_ray(self, 0, 0)
      _, dir_1 = ray_utils.shot_ray(self, self.shape[1], 0)
      _, dir_2 = ray_utils.shot_ray(self, self.shape[1], self.shape[0])
      _, dir_3 = ray_utils.shot_ray(self, 0, self.shape[0])
      orig = self.cam_pose.camera_center_in_world
      pt_0 = dir_0 * size + orig
      pt_1 = dir_1 * size + orig
      pt_2 = dir_2 * size + orig
      pt_3 = dir_3 * size + orig
      return orig, pt_0, pt_1, pt_2, pt_3
  
imports: import numpy
  from cameras.pinhole_camera import resize_pinhole_camera
  from cameras import contents
  from geometry import pcd_projector
  from utils import ray_utils
label_desc: Use image node_id 8 for calling the BasePinholeCapture obj's underlying member method code with example usage: obj.camera_poly(size) and returns: orig,  pt_0,  pt_1,  pt_2,  pt_3