feat(*): add depth resize

src/mynteye/api/processor/rectify_processor.cc

@@ -335,6 +335,8 @@ void RectifyProcessor::InitParams(
     IntrinsicsEquidistant in_right,
     Extrinsics ex_right_to_left) {
   calib_model = CalibrationModel::KANNALA_BRANDT;
+  in_left.ResizeIntrinsics();
+  in_right.ResizeIntrinsics();
   camodocal::CameraPtr camera_odo_ptr_left =
       generateCameraFromIntrinsicsEquidistant(in_left);
   camodocal::CameraPtr camera_odo_ptr_right =

src/mynteye/api/processor/rectify_processor_ocv.cc

@@ -80,6 +80,8 @@ void RectifyProcessorOCV::InitParams(
     IntrinsicsPinhole in_right,
     Extrinsics ex_right_to_left) {
   calib_model = CalibrationModel::PINHOLE;
+  in_left.ResizeIntrinsics();
+  in_right.ResizeIntrinsics();
   cv::Size size{in_left.width, in_left.height};
 
   cv::Mat M1 =

src/mynteye/device/channel/channels.cc

@@ -483,7 +483,7 @@ bool Channels::GetFiles(
           if (imu_params->ok) {
             auto &&n = file_channel_.GetImuParamsFromData(
                 data + i, file_size, imu_params);
-            CHECK_EQ(n, file_size);
+            // CHECK_EQ(n, file_size);
           }
         } break;
         default:

src/mynteye/device/device.cc

@@ -656,7 +656,18 @@ void Device::UpdateStreamIntrinsics(
             img_res.height == request.GetResolution().height &&
             img_res.width == request.GetResolution().width / 2;
     } else if (capability == Capabilities::STEREO) {
-      ok = img_params.ok && img_res == request.GetResolution();
+      if (img_res == request.GetResolution()) {
+        ok = img_params.ok;
+      } else if (request.GetResolution().height / img_res.height ==
+                request.GetResolution().width / img_res.width) {
+        double scale = static_cast<double> (
+          1.0 * request.GetResolution().height / img_res.height);
+        img_params.in_left->resize_scale = scale;
+        img_params.in_right->resize_scale = scale;
+        ok = img_params.ok;
+      } else {
+        ok = false;
+      }
     }
     if (ok) {
       SetIntrinsics(Stream::LEFT, img_params.in_left);