def color_intrinsics(self):
        """:obj:`CameraIntrinsics` : The camera intrinsics for the primesense color camera.
        """
        return CameraIntrinsics(self._ir_frame, PrimesenseSensor.FOCAL_X, PrimesenseSensor.FOCAL_Y,
                                PrimesenseSensor.CENTER_X, PrimesenseSensor.CENTER_Y,
                                height=PrimesenseSensor.DEPTH_IM_HEIGHT,
                                width=PrimesenseSensor.DEPTH_IM_WIDTH)