[BUG] {Wrong intrinsic matrix for resized RGB image}

[AntonioConsiglio]

Describe the bug

Wrong intrinsic matrix for resized RGB image. While in version 2.15.0.0 the intrinsic matrix is correct, in version depthai >= 2.17.3.1 the intrinisc matrix is different in that case and it's wrong.

Minimal Reproducible Example

self.device_ = dhai.Device(pipeline,usb2Mode=True)
calibration_info = self.device_.readCalibration()
intrinsic_matrix = calibration_info.getCameraIntrinsics(dhai.CameraBoardSocket.RGB,resizeHeight=480,resizeWidth=640)

Additional context
camera = OAK-D Lite
depthai version tested: 2.15.0.0 (work) - 2.16.0.0 (work) - 2.17.0.0 (work) - 2.17.3.1 (wrong) - 2.18.0.0 (wrong) - 2.19.0.0 (wrong)

[brmarkus]

Can you provide sample output of a wrong and a correct version, please?

[AntonioConsiglio]

right output

wrong output

[daxoft]

Hi @AntonioConsiglio sorry for the issue, can you share the output of calibration_dump script? And also check if it's the same for both depthai versions?

[AntonioConsiglio]

Hello @daxoft,
calibration_dump.zip
Here you can find the json file made using the calibration_dump script. I've checked the user_calibration*.json and the output is the same for both 2.17.0.0 and 2.19.1.0 version.

Looking at the source code, I saw that the method used to request calibration information has changed. A flag was added and also the "calculation" part was changed. For a resize with the same ratio the calculation of the new intrinsic matrix is quite obvious, probably because my ratio does not remain the same as the original this leads to a calculation error.

Thanks.