t/calib: Also save the fisheye distortion always

src/xrt/auxiliary/tracking/t_calibration_opencv.h

@@ -35,13 +35,11 @@ public:
 	cv::Mat l_intrinsics_mat = {};
 	cv::Mat l_distortion_mat = {};
 	cv::Mat l_distortion_fisheye_mat = {};
-	cv::Mat l_translation_mat = {};
 	cv::Mat l_rotation_mat = {};
 	cv::Mat l_projection_mat = {};
 	cv::Mat r_intrinsics_mat = {};
 	cv::Mat r_distortion_mat = {};
 	cv::Mat r_distortion_fisheye_mat = {};
-	cv::Mat r_translation_mat = {};
 	cv::Mat r_rotation_mat = {};
 	cv::Mat r_projection_mat = {};
 
@@ -57,11 +55,13 @@ public:
 
 		l_intrinsics_mat = cv::Mat(3, 3, CV_64F, &l_intrinsics[0][0]);
 		l_distortion_mat = cv::Mat(1, 5, CV_64F, &l_distortion[0]);
+		l_distortion_fisheye_mat = cv::Mat(1, 4, CV_64F, &l_distortion_fisheye[0]);
 		l_rotation_mat = cv::Mat(3, 3, CV_64F, &l_rotation[0][0]);
 		l_projection_mat = cv::Mat(3, 4, CV_64F, &l_projection[0][0]);
 
 		r_intrinsics_mat = cv::Mat(3, 3, CV_64F, &r_intrinsics[0][0]);
 		r_distortion_mat = cv::Mat(1, 5, CV_64F, &r_distortion[0]);
+		r_distortion_fisheye_mat = cv::Mat(1, 4, CV_64F, &r_distortion_fisheye[0]);
 		r_rotation_mat = cv::Mat(3, 3, CV_64F, &r_rotation[0][0]);
 		r_projection_mat = cv::Mat(3, 4, CV_64F, &r_projection[0][0]);
 		// clang-format on
@@ -76,14 +76,12 @@ public:
 		       camera_fundamental_mat.size() == cv::Size(3, 3) &&
 		       l_intrinsics_mat.size() == cv::Size(3, 3) &&
 		       l_distortion_mat.size() == cv::Size(5, 1) &&
-		       l_distortion_fisheye_mat.size() == cv::Size(0, 0) &&
+		       l_distortion_fisheye_mat.size() == cv::Size(4, 1) &&
-		       l_translation_mat.size() == cv::Size(0, 0) &&
 		       l_rotation_mat.size() == cv::Size(3, 3) &&
 		       l_projection_mat.size() == cv::Size(4, 3) &&
 		       r_intrinsics_mat.size() == cv::Size(3, 3) &&
 		       r_distortion_mat.size() == cv::Size(5, 1) &&
-		       r_distortion_fisheye_mat.size() == cv::Size(0, 0) &&
+		       r_distortion_fisheye_mat.size() == cv::Size(4, 1) &&
-		       r_translation_mat.size() == cv::Size(0, 0) &&
 		       r_rotation_mat.size() == cv::Size(3, 3) &&
 		       r_projection_mat.size() == cv::Size(4, 3);
 	}

src/xrt/auxiliary/tracking/t_file.cpp

@@ -61,6 +61,10 @@ t_file_load_stereo_calibration_v1(FILE *calib_file,
 
 	assert(raw.isDataStorageValid());
 
+	// Dummies
+	cv::Mat l_translation_dummy;
+	cv::Mat r_translation_dummy;
+
 	//! @todo Load from file.
 	bool use_fisheye = false;
 
@@ -74,8 +78,8 @@ t_file_load_stereo_calibration_v1(FILE *calib_file,
 	read_cv_mat(calib_file, &raw.r_distortion_fisheye_mat, "r_distortion_fisheye");
 	read_cv_mat(calib_file, &raw.l_rotation_mat, "l_rotation"); // 3 x 3
 	read_cv_mat(calib_file, &raw.r_rotation_mat, "r_rotation"); // 3 x 3
-	read_cv_mat(calib_file, &raw.l_translation_mat, "l_translation"); // empty
+	read_cv_mat(calib_file, &l_translation_dummy, "l_translation"); // empty
-	read_cv_mat(calib_file, &raw.r_translation_mat, "r_translation"); // empty
+	read_cv_mat(calib_file, &r_translation_dummy, "r_translation"); // empty
 	read_cv_mat(calib_file, &raw.l_projection_mat, "l_projection"); // 3 x 4
 	read_cv_mat(calib_file, &raw.r_projection_mat, "r_projection"); // 3 x 4
 	read_cv_mat(calib_file, &raw.disparity_to_depth_mat, "disparity_to_depth");  // 4 x 4
@@ -213,6 +217,10 @@ t_file_save_raw_data(FILE *calib_file, struct t_calibration_raw_data *raw_data)
 {
 	CalibrationRawData &raw = *(CalibrationRawData *)raw_data;
 
+	cv::Mat l_translation_dummy;
+	cv::Mat r_translation_dummy;
+
+
 	write_cv_mat(calib_file, &raw.l_intrinsics_mat);
 	write_cv_mat(calib_file, &raw.r_intrinsics_mat);
 	write_cv_mat(calib_file, &raw.l_distortion_mat);
@@ -221,8 +229,8 @@ t_file_save_raw_data(FILE *calib_file, struct t_calibration_raw_data *raw_data)
 	write_cv_mat(calib_file, &raw.r_distortion_fisheye_mat);
 	write_cv_mat(calib_file, &raw.l_rotation_mat);
 	write_cv_mat(calib_file, &raw.r_rotation_mat);
-	write_cv_mat(calib_file, &raw.l_translation_mat);
+	write_cv_mat(calib_file, &l_translation_dummy);
-	write_cv_mat(calib_file, &raw.r_translation_mat);
+	write_cv_mat(calib_file, &r_translation_dummy);
 	write_cv_mat(calib_file, &raw.l_projection_mat);
 	write_cv_mat(calib_file, &raw.r_projection_mat);
 	write_cv_mat(calib_file, &raw.disparity_to_depth_mat);
@@ -345,6 +353,10 @@ read_cv_mat(FILE *f, cv::Mat *m, const char *name)
 		return false;
 	}
 
+	if (header[1] == 0 && header[2] == 0) {
+		return true;
+	}
+
 	//! @todo We may have written things other than CV_32F and CV_64F.
 	if (header[0] == 4) {
 		m->create(static_cast<int>(header[1]),

src/xrt/auxiliary/tracking/t_tracking.h

@@ -249,6 +249,8 @@ struct t_calibration_raw_data
 	double l_intrinsics[3][3];
 	//! Left camera distortion
 	double l_distortion[5];
+	//! Left fisheye camera distortion
+	double l_distortion_fisheye[4];
 	//! Left rectification transform (rotation matrix).
 	double l_rotation[3][3];
 	//! Left projection matrix in the new (rectified) coordinate systems.
@@ -258,17 +260,12 @@ struct t_calibration_raw_data
 	double r_intrinsics[3][3];
 	//! Right camera distortion
 	double r_distortion[5];
+	//! Right fisheye camera distortion
+	double r_distortion_fisheye[4];
 	//! Right rectification transform (rotation matrix).
 	double r_rotation[3][3];
 	//! Right projection matrix in the new (rectified) coordinate systems.
 	double r_projection[3][4];
-
-#if 0
-	double r_translation[3];        // [0 x 0] [1 x 3]??
-	double r_distortion_fisheye[4]; // [0 x 0] [4 x 1]??
-	double l_translation[3];        // [0 x 0] [1 x 3]??
-	double l_distortion_fisheye[4]; // [0 x 0] [4 x 1]??
-#endif
 };
 
 /*!