def get_pinhole(self, idx: int) -> PinholeCamera:
        r"""Return a PinholeCamera object with parameters such as Bx4x4."""
        height: Tensor = self.height[..., idx]
        width: Tensor = self.width[..., idx]
        intrinsics: Tensor = self.intrinsics[:, idx]
        extrinsics: Tensor = self.extrinsics[:, idx]
        return PinholeCamera(intrinsics, extrinsics, height, width)
Return a PinholeCamera object with parameters such as Bx4x4.
kornia/geometry/camera/pinhole.py