def METHOD_NAME(self, cameraInfo):
    try:
        if self.intrinsics:
            return
        self.intrinsics = rs2.intrinsics()
        self.intrinsics.width = cameraInfo.width
        self.intrinsics.height = cameraInfo.height
        self.intrinsics.ppx = cameraInfo.k[2]
        self.intrinsics.ppy = cameraInfo.k[5]
        self.intrinsics.fx = cameraInfo.k[0]
        self.intrinsics.fy = cameraInfo.k[4]
        if cameraInfo.distortion_model == 'plumb_bob':
            self.intrinsics.model = rs2.distortion.brown_conrady
        elif cameraInfo.distortion_model == 'equidistant':
            self.intrinsics.model = rs2.distortion.kannala_brandt4
        self.intrinsics.coeffs = [i for i in cameraInfo.d]
    except CvBridgeError as e:
        print(e)
        return