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From Camera Calibration and 3D Reconstruction, in the Detailed Description section, you'll see that calibration fills in the K, D, R and P matrices for you. You'll notice that the K matrix (Camera matrix) center point and focal length is expressed in terms of pixels. If your starting sensor has a calibration resolution of (xr, yr) pixels, and your new resolution is (xr', yr'), then you may scale the K array values like this:

  • fx' = fx * xr' / xr
  • fy' = fy * yr' / yr
  • cx' = cx * xr' / xr
  • cy' = cy * yr' / yr