def color_intrinsics(self):
        """:obj:`CameraIntrinsics` : The camera intrinsics for the RealSense color camera.
        """
        return CameraIntrinsics(
            self._frame,
            self._intrinsics[0, 0],
            self._intrinsics[1, 1],
            self._intrinsics[0, 2],
            self._intrinsics[1, 2],
            height=RealSenseSensor.COLOR_IM_HEIGHT,
            width=RealSenseSensor.COLOR_IM_WIDTH,
        )