code: def color_intrinsics(self):
          
          return CameraIntrinsics(self._ir_frame, PrimesenseSensor.FOCAL_X, PrimesenseSensor.FOCAL_Y,
                                  PrimesenseSensor.CENTER_X, PrimesenseSensor.CENTER_Y,
                                  height=PrimesenseSensor.DEPTH_IM_HEIGHT,
                                  width=PrimesenseSensor.DEPTH_IM_WIDTH)
docs: :obj:`CameraIntrinsics` : The camera intrinsics for the primesense color camera.