code: public static CameraPinhole createIntrinsic(int width, int height, double hfov, double vfov) {
  		CameraPinhole intrinsic = new CameraPinhole();
  		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.cy / Math.tan(UtilAngle.degreeToRadian(vfov/2.0));
  
  		return intrinsic;
  	}
docs: Creates a set of intrinsic parameters, without distortion, for a camera with the specified characteristics
  
  @param width Image width
  @param height Image height
  @param hfov Horizontal FOV in degrees
  @param vfov Vertical FOV in degrees
  @return guess camera parameters