def _get_intrinsics(camera_info):
    """Get intrinsic parameters from the camera info.

    Args:
        camera_info (CameraInfo): camera info message

    Returns:
        dict: intrinsics in the cosypose format
    """
    return dict(
        fx=camera_info.K[0], cx=camera_info.K[2],
        fy=camera_info.K[4], cy=camera_info.K[5],
        resolution=(camera_info.width, camera_info.height),
    )