code: def _set_intrinsics(self):
          
          strm = self._profile.get_stream(rs.stream.color)
          obj = strm.as_video_stream_profile().get_intrinsics()
          self._intrinsics[0, 0] = obj.fx
          self._intrinsics[1, 1] = obj.fy
          self._intrinsics[0, 2] = obj.ppx
          self._intrinsics[1, 2] = obj.ppy
docs: Read the intrinsics matrix from the stream.