docs: public static CameraPinholeBrown createIntrinsic(int width, int height, double hfov) {
  		CameraPinholeBrown intrinsic = new CameraPinholeBrown();
  		intrinsic.width = width;
  		intrinsic.height = height;
  		intrinsic.cx = width / 2;
  		intrinsic.cy = height / 2;
  		intrinsic.fx = intrinsic.cx / Math.tan(UtilAngle.degreeToRadian(hfov/2.0));
  		intrinsic.fy = intrinsic.fx;
  
  		return intrinsic;
  	}