def get_intrinsics(intrinsics):
    """
    Scales the intrinsics matrix to be of the appropriate scale for the depth maps.
    """
    intrinsics_scaled = _resize_camera_matrix(intrinsics, DEPTH_WIDTH / 1920, DEPTH_HEIGHT / 1440)
    return o3d.camera.PinholeCameraIntrinsic(width=DEPTH_WIDTH, height=DEPTH_HEIGHT, fx=intrinsics_scaled[0, 0],
        fy=intrinsics_scaled[1, 1], cx=intrinsics_scaled[0, 2], cy=intrinsics_scaled[1, 2])