def get_intrinsics(H,W):
    """
    Intrinsics for a pinhole camera model.
    Assume fov of 55 degrees and central principal point.
    """
    f = 0.5 * W / np.tan(0.5 * 55 * np.pi / 180.0)
    cx = 0.5 * W
    cy = 0.5 * H
    return np.array([[f, 0, cx],
                     [0, f, cy],
                     [0, 0, 1]])

    Intrinsics for a pinhole camera model.
    Assume fov of 55 degrees and central principal point.
    
ControlNet-v1-1-nightly/annotator/zoe/zoedepth/utils/geometry.py