code: def ir_intrinsics(self):
          
          if self._device is None:
              raise RuntimeError('Kinect2 device %s not runnning. Cannot return IR intrinsics')
          camera_params = self._device.getIrCameraParams()
          return CameraIntrinsics(self._ir_frame, camera_params.fx, camera_params.fy,
                                  camera_params.cx, camera_params.cy,
                                  height=Kinect2Sensor.DEPTH_IM_HEIGHT,
                                  width=Kinect2Sensor.DEPTH_IM_WIDTH)
docs: :obj:`CameraIntrinsics` : The camera intrinsics for the Kinect's IR camera.