How to generate cameras.npz and pcl.npz for custom datasets?

[kaphleamrit2]

I am trying to create custom datasets for training. I have a depth map, image, masks, and their corresponding 3d model. I do not know how to create cameras.npz (world_mat, world_mat_inv, camera_mat, camera_mat_inv, scale_mat, scale_mat_inv) and pcl.npz file. Is there any way to create these files using a blender or other tools?