Camera

def calculate_intrinsic_matrix(self) -> np.ndarray:
    """
    Calculate intrinsics matrix
    Will set the attribute intrinsic matrix so that re-calculation is not
    necessary.
    https://github.com/carla-simulator/carla/issues/56

    [
            ax, 0, cx,
            0, ay, cy,
            0 , 0, 1
    ]

    Returns:
        Intrinsics_matrix
    """
    intrinsics_matrix = np.identity(3)
    intrinsics_matrix[0, 2] = self.image_size_x / 2.0
    intrinsics_matrix[1, 2] = self.image_size_y / 2.0
    intrinsics_matrix[0, 0] = self.image_size_x / (
        2.0 * np.tan(self.fov * np.pi / 360.0)
    )
    intrinsics_matrix[1, 1] = self.image_size_x / (
        2.0 * np.tan(self.fov * np.pi / 360.0)
    )
    self.intrinsics_matrix = intrinsics_matrix
    return intrinsics_matrix

def visualize(self, title="CameraData", duration=1) -> None:
    """
    Visualize camera data.
    Args:
        title: title of cv2 image
        duration: in milisecond

    Returns:
        None
    """
    if self.data is not None:
        cv2.imshow(title, self.data.data)
        cv2.waitKey(duration)