code: def color_intrinsics(self):
          
          if self._device is None:
              raise RuntimeError('Kinect2 device %s not runnning. Cannot return color intrinsics')
          camera_params = self._device.getColorCameraParams()
          return CameraIntrinsics(self._color_frame, camera_params.fx, camera_params.fy,
                                  camera_params.cx, camera_params.cy)
docs: :obj:`CameraIntrinsics` : The camera intrinsics for the Kinect's color camera.