diff --git a/src/xrt/auxiliary/tracking/t_calibration_opencv.h b/src/xrt/auxiliary/tracking/t_calibration_opencv.h
index 7612c8b70..5f607a0a2 100644
--- a/src/xrt/auxiliary/tracking/t_calibration_opencv.h
+++ b/src/xrt/auxiliary/tracking/t_calibration_opencv.h
@@ -51,9 +51,19 @@ public:
 	{
 		// clang-format off
 		camera_translation_mat = cv::Mat(3, 1, CV_64F, &camera_translation[0]);
-		camera_rotation_mat = cv::Mat(3, 3, CV_64F, &camera_rotation[0]);
-		camera_essential_mat = cv::Mat(3, 3, CV_64F, &camera_essential[0]);
-		camera_fundamental_mat = cv::Mat(3, 3, CV_64F, &camera_fundamental[0]);
+		camera_rotation_mat = cv::Mat(3, 3, CV_64F, &camera_rotation[0][0]);
+		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]);
+
+		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_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_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
 	}
 
@@ -63,7 +73,19 @@ public:
 		return camera_rotation_mat.size() == cv::Size(3, 3) &&
 		       camera_translation_mat.size() == cv::Size(1, 3) &&
 		       camera_essential_mat.size() == cv::Size(3, 3) &&
-		       camera_fundamental_mat.size() == cv::Size(3, 3);
+		       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_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_translation_mat.size() == cv::Size(0, 0) &&
+		       r_rotation_mat.size() == cv::Size(3, 3) &&
+		       r_projection_mat.size() == cv::Size(4, 3);
 	}
 };
 
diff --git a/src/xrt/auxiliary/tracking/t_tracking.h b/src/xrt/auxiliary/tracking/t_tracking.h
index f44ce6a7e..5a2dd7af2 100644
--- a/src/xrt/auxiliary/tracking/t_tracking.h
+++ b/src/xrt/auxiliary/tracking/t_tracking.h
@@ -236,17 +236,39 @@ struct t_calibration_raw_data
 	struct xrt_size image_size_pixels;
 	struct xrt_size new_image_size_pixels;
 
-	//! Translation between thw two cameras, in the stereo pair.
+	//! Translation between the two cameras, in the stereo pair.
 	double camera_translation[3];
-
 	//! Rotation matrix between the two cameras, in the stereo pair.
 	double camera_rotation[3][3];
-
 	//! Essential matrix.
 	double camera_essential[3][3];
-
 	//! Fundamental matrix.
 	double camera_fundamental[3][3];
+
+	//! Left camera intrinsics
+	double l_intrinsics[3][3];
+	//! Left camera distortion
+	double l_distortion[5];
+	//! Left rectification transform (rotation matrix).
+	double l_rotation[3][3];
+	//! Left projection matrix in the new (rectified) coordinate systems.
+	double l_projection[3][4];
+
+	//! Right camera intrinsics
+	double r_intrinsics[3][3];
+	//! Right camera distortion
+	double r_distortion[5];
+	//! 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
 };
 
 /*!