Just need to correct this sorry.
Not true. Ater Madonna and CBS / Hamish Hamilton thing felll through, they had the two Lisbon shows professionally filmed for future release anyway. With HDTV cameras on cranes and lots of audience shots - under the direction of Christian Lamb, who had been the video director throughout the tour for Nocturne Productions.
On the nights - the venue screens at the Lisbon RiT shows actually dispalyed the live footage being shot by PAL HD cameras in 16:9 - live feed of what was being shot for future DVD editing.
This video I made - shows that what leaked to all of us a few years later - isn't that live feed shown on the venue screens. It is some kind of later edit. So from this - we can see for sure that work was at least in progress on a final DVD / release version of RiT Lisbon.
The video below shows "Vogue" - the live-feed venue screen footage (given to media outlets shortly after the concert ended on the 1st night) and the stuff that leaked to fans a few years later. They aren't the same!
Side note - during the rest of the RiT, the shows were all shot by NTSC SD cameras in 4:3 format for the screens each night. You are right in stating that this type of footage wouldn't generally be considered appropriate for a full DVD release. In the case of MJ's 1988 Bad Tour - they did end up releasing this stuff on DVD a few years ago, beacuse of the lack of an alternative.
Strangely also - some tiny bits of the Lisbon DVD footage did end up in the concert clips of IGTTYAS (mixed in with the Paris 35mm footage)!