depths/camera_intrinsics.json

{
  "global": {
    "fx": 607.453857421875,
    "fy": 606.4141845703125,
    "cx": 317.8910827636719,
    "cy": 247.17361450195312,
    "width": 640,
    "height": 480,
    "depth_scale": 0.0010000000474974513
  }
}