code: def _set_camera_properties(self, msg):
          
          focal_x = msg.K[0]
          focal_y = msg.K[4]
          center_x = msg.K[2]
          center_y = msg.K[5]
          im_height = msg.height
          im_width = msg.width
          self._camera_intr = CameraIntrinsics(self._frame, focal_x, focal_y,
                                               center_x, center_y,
                                               height=im_height,
                                               width=im_width)
docs: Set the camera intrinsics from an info msg.