docstr: model-view-projection matrix (naming from opengl)
code: def mvp_mat(self):
      """
      model-view-projection matrix (naming from opengl)
      """
      return np.matmul(
          self.pinhole_cam.intrinsic_matrix,
          self.cam_pose.extrinsic_matrix,
      )
  
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 3 for calling the BasePinholeCapture obj's underlying member method code with example usage: obj.mvp_mat() and returns: np