Details about prediction on KITTI dataset

[gxytcrc]

Hello! Thank you for your excellent work. I have a question regarding the KITTI prediction. Should the input image be resized to [420, 560] for evaluating v2? I've already tried resizing, but the predicted intrinsics deviate significantly from the intrinsic provided by KITTI. Is this normal? Additionally, what other preprocessing steps should be performed before feeding the image into the model?