scale intrinsics for aruco detection

components/operators/src/aruco.cpp

@@ -76,7 +76,7 @@ bool ArUco::apply(Frame &in, Frame &out, cudaStream_t) {
 			FTL_Profile("ArUco", 0.02);
 			cv::cvtColor(in.get<cv::Mat>(channel_in_), tmp_, cv::COLOR_BGRA2GRAY);
 
-			const Mat K = in.getLeftCamera().getCameraMatrix();
+			const Mat K = in.getLeftCamera().getCameraMatrix(tmp_.size());
 			const Mat dist;
 
 			cv::aruco::detectMarkers(tmp_, dictionary_,

components/rgbd-sources/include/ftl/rgbd/camera.hpp

@@ -87,7 +87,7 @@ struct __align__(16) Camera {
 	 */
 	static Camera from(ftl::Configurable*);
 
-	cv::Mat getCameraMatrix() const;
+	cv::Mat getCameraMatrix(const cv::Size& sz={0, 0}) const;
 	#endif
 };
 

components/rgbd-sources/src/camera.cpp

@@ -35,7 +35,8 @@ Camera Camera::from(ftl::Configurable *cfg) {
 	return r;
 }
 
-cv::Mat Camera::getCameraMatrix() const {
+cv::Mat Camera::getCameraMatrix(const cv::Size& sz) const {
+	if (sz == cv::Size{0, 0}) {
 		cv::Mat K = cv::Mat::eye(cv::Size(3, 3), CV_64FC1);
 		K.at<double>(0,0) = fx;
 		K.at<double>(0,2) = -cx;
@@ -43,6 +44,10 @@ cv::Mat Camera::getCameraMatrix() const {
 		K.at<double>(1,2) = -cy;
 		return K;
 	}
+	else {
+		return scaled(sz.width, sz.height).getCameraMatrix();
+	}
+}
 
 /*
  * Scale camera parameters to match resolution.