def ir_intrinsics(self):
        """:obj:`CameraIntrinsics` : The camera intrinsics for the Kinect's IR camera.
        """
        if self._device is None:
            raise RuntimeError('Kinect2 device %s not runnning. Cannot return IR intrinsics')
        camera_params = self._device.getIrCameraParams()
        return CameraIntrinsics(self._ir_frame, camera_params.fx, camera_params.fy,
                                camera_params.cx, camera_params.cy,
                                height=Kinect2Sensor.DEPTH_IM_HEIGHT,
                                width=Kinect2Sensor.DEPTH_IM_WIDTH)