def color_intrinsics(self):
        """:obj:`CameraIntrinsics` : The camera intrinsics for the Kinect's color camera.
        """
        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)