How to use the torchgeometry.utils.create_pinhole function in torchgeometry

def load_data(root_path, sequence_name, frame_id):
    # index paths
    file_name = 'frame_%04d' % (frame_id)
    image_file = os.path.join(root_path, 'clean', sequence_name,
                              file_name + '.png')
    depth_file = os.path.join(root_path, 'depth', sequence_name,
                              file_name + '.dpt')
    camera_file = os.path.join(root_path, 'camdata_left', sequence_name,
                               file_name + '.cam')
    # load the actual data
    image_tensor = load_image(image_file)
    depth = load_depth(depth_file)
    # load camera data and create pinhole
    height, width = image_tensor.shape[-2:]
    intrinsics, extrinsics = load_camera_data(camera_file)
    camera = tgm.utils.create_pinhole(intrinsics, extrinsics, height, width)
    return image_tensor, depth, camera