code: def color_intrinsics(self):
          
          return CameraIntrinsics(
              self._frame,
              self._intrinsics[0, 0],
              self._intrinsics[1, 1],
              self._intrinsics[0, 2],
              self._intrinsics[1, 2],
              height=RealSenseSensor.COLOR_IM_HEIGHT,
              width=RealSenseSensor.COLOR_IM_WIDTH,
          )
docs: :obj:`CameraIntrinsics` : The camera intrinsics for the RealSense color camera.