t/calib: Also expose disparity_to_depth on both raw and refined settings

src/xrt/auxiliary/tracking/t_calibration_opencv.h

@@ -32,7 +32,7 @@ t_file_save_raw_data_hack(struct t_settings_stereo_raw *raw_data);
 struct CalibrationData : t_settings_stereo
 {
 public:
-	cv::Mat disparity_to_depth = {};
+	cv::Mat disparity_to_depth_mat = {};
 
 	cv::Mat l_undistort_map_x = {};
 	cv::Mat l_undistort_map_y = {};
@@ -43,6 +43,21 @@ public:
 	cv::Mat r_undistort_map_y = {};
 	cv::Mat r_rectify_map_x = {};
 	cv::Mat r_rectify_map_y = {};
+
+
+public:
+	CalibrationData()
+	{
+		// clang-format off
+		disparity_to_depth_mat = cv::Mat(4, 4, CV_64F, &disparity_to_depth[0][0]);
+		// clang-format on
+	}
+
+	bool
+	isDataStorageValid()
+	{
+		return disparity_to_depth_mat.size() == cv::Size(4, 4);
+	}
 };
 
 /*!
@@ -80,6 +95,8 @@ public:
 		camera_essential_mat = cv::Mat(3, 3, CV_64F, &camera_essential[0][0]);
 		camera_fundamental_mat = cv::Mat(3, 3, CV_64F, &camera_fundamental[0][0]);
 
+		disparity_to_depth_mat = cv::Mat(4, 4, CV_64F, &disparity_to_depth[0][0]);
+
 		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]);
@@ -101,6 +118,7 @@ public:
 		       camera_translation_mat.size() == cv::Size(1, 3) &&
 		       camera_essential_mat.size() == cv::Size(3, 3) &&
 		       camera_fundamental_mat.size() == cv::Size(3, 3) &&
+		       disparity_to_depth_mat.size() == cv::Size(4, 4) &&
 		       l_intrinsics_mat.size() == cv::Size(3, 3) &&
 		       l_distortion_mat.size() == cv::Size(5, 1) &&
 		       l_distortion_fisheye_mat.size() == cv::Size(4, 1) &&
@@ -136,5 +154,5 @@ calibration_get_stereo(t_settings_stereo *data_c,
 	*r_undistort_map_y = data->r_undistort_map_y;
 	*r_rectify_map_x = data->r_rectify_map_x;
 	*r_rectify_map_y = data->r_rectify_map_y;
-	*disparity_to_depth = data->disparity_to_depth;
+	*disparity_to_depth = data->disparity_to_depth_mat;
 }

src/xrt/auxiliary/tracking/t_file.cpp

@@ -140,11 +140,12 @@ t_settings_stereo_load_v1(FILE *calib_file,
 	}
 
 	assert(raw.isDataStorageValid());
+	assert(data.isDataStorageValid());
 
 	// No processing needed.
 	data.image_size_pixels = raw.image_size_pixels;
 	data.new_image_size_pixels = raw.new_image_size_pixels;
-	data.disparity_to_depth = raw.disparity_to_depth_mat.clone();
+	raw.disparity_to_depth_mat.copyTo(data.disparity_to_depth_mat);
 
 	//! @todo Scale Our intrinsics if the frame size we request
 	//              calibration for does not match what was saved

src/xrt/auxiliary/tracking/t_tracking.h

@@ -84,6 +84,9 @@ struct t_settings_stereo
 {
 	struct xrt_size image_size_pixels;
 	struct xrt_size new_image_size_pixels;
+
+	//! Disparity and position to camera world coordinates.
+	double disparity_to_depth[4][4];
 };
 
 /*!
@@ -103,6 +106,9 @@ struct t_settings_stereo_raw
 	//! Fundamental matrix.
 	double camera_fundamental[3][3];
 
+	//! Disparity and position to camera world coordinates.
+	double disparity_to_depth[4][4];
+
 	//! Left camera intrinsics
 	double l_intrinsics[3][3];
 	//! Left camera distortion