-1

src/xrt/drivers/depthai/depthai_driver.cpp

··· 334 334 auto nano = std::chrono::duration_cast<std::chrono::duration<int64_t, std::nano>>(duration); 335 335 uint64_t timestamp_ns = nano.count(); 336 336 337 337 - // Sanity check. 338 337 if (num >= ARRAY_SIZE(depthai->sink)) { 339 338 DEPTHAI_ERROR(depthai, "Instance number too large! (%u)", num); 340 339 return;

+2 -2

src/xrt/drivers/hdk/hdk_device.cpp

··· 155 155 156 156 // HDMI status only valid in reports version 3. 157 157 // Expecting either version 1 (100Hz) or 3 (400Hz): 158 158 - // https://github.com/OSVR/OSVR-HDK-MCU-Firmware/blob/master/Source%20code/Embedded/src/DeviceDrivers/BNO070_using_hostif.c#L511 158 158 + // https://github.com/OSVR/OSVR-HDK-MCU-Firmware/blob/main/Source%20code/Embedded/src/DeviceDrivers/BNO070_using_hostif.c#L511 159 159 160 160 // Next byte is sequence number, ignore 161 161 buf++; ··· 191 191 192 192 // This is in the "world" coordinate system. 193 193 194 194 - // Note that we must "rotate" this velocity by the first transform above 194 194 + // Note that we must "rotate" this velocity by the first transform from earlier 195 195 // (90 about x), hence putting it in a pure quat. 196 196 struct xrt_quat ang_vel_quat; 197 197 ang_vel_quat.x = fromFixedPoint<6, 9>(hdk_get_le_int16(buf));

+2 -2

src/xrt/drivers/hydra/hydra_driver.c

··· 376 376 377 377 os_hid_set_feature(hs->command_hid, HYDRA_REPORT_START_MOTION, sizeof(HYDRA_REPORT_START_MOTION)); 378 378 379 379 - // Doing a dummy get-feature now. 379 379 + // Doing a throwaway get-feature now. 380 380 uint8_t buf[91] = {0}; 381 381 os_hid_get_feature(hs->command_hid, 0, buf, sizeof(buf)); 382 382 ··· 594 594 struct hydra_system *hs = U_TYPED_CALLOC(struct hydra_system); 595 595 hs->base.type = XRT_TRACKING_TYPE_HYDRA; 596 596 snprintf(hs->base.name, XRT_TRACKING_NAME_LEN, "%s", "Razer Hydra magnetic tracking"); 597 597 - // Dummy transform from local space to base. 597 597 + // Arbitrary static transform from local space to base. 598 598 hs->base.offset.position.y = 1.0f; 599 599 hs->base.offset.position.z = -0.25f; 600 600 hs->base.offset.orientation.w = 1.0f;

+1 -1

src/xrt/drivers/illixr/illixr_component.cpp

··· 19 19 20 20 using namespace ILLIXR; 21 21 22 22 - /// Dummy plugin class for an instance during phonebook registration 22 22 + /// Simulated plugin class for an instance during phonebook registration 23 23 class illixr_plugin : public plugin 24 24 { 25 25 public:

+1 -1

src/xrt/drivers/north_star/distortion_3d/deformation_northstar.cpp

··· 182 182 Vector3 rayDir; 183 183 184 184 // we can do all three calls below to RenderUVToDisplayUV at the 185 185 - // same time via SIMD or better yet we can vectorize across all 185 185 + // same time using SIMD or better yet we can vectorize across all 186 186 // the uvs if we have a list of them 187 187 curDisplayUV = RenderUVToDisplayUV(curCameraUV); 188 188 Vector2 displayUVGradX =

-1

src/xrt/drivers/north_star/ns_hmd.c

··· 202 202 203 203 try_get_fov(ns, config_json, &temp_data->fov[0], &temp_data->fov[1]); 204 204 205 205 - // stupid 206 205 memcpy(&ns->base.hmd->distortion.fov[0], &temp_data->fov[0], sizeof(struct xrt_fov)); 207 206 memcpy(&ns->base.hmd->distortion.fov[1], &temp_data->fov[1], sizeof(struct xrt_fov)); 208 207

+3 -3

src/xrt/drivers/psmv/psmv_driver.c

··· 256 256 * vector before subtracting from the gyro 80rpm measures, I get a 257 257 * better calibration. 258 258 * 259 259 - * So in order to get the accurate 80rpm measures: 259 259 + * So to get the accurate 80rpm measures: 260 260 * GyroMeasure80rpm-(GyroBias1*UnknownVector2) or 261 261 * GyroMeasure80rpm-(GyroBias2*UnknownVector2) 262 262 */ ··· 408 408 //! Accelerometer and gyro scope samples (ZCM2). 409 409 struct psmv_parsed_sample sample; 410 410 411 411 - //! Copy of above (ZCM2). 411 411 + //! Copy of preceding (ZCM2). 412 412 struct psmv_parsed_sample sample_copy; 413 413 }; 414 414 }; ··· 1005 1005 return 0; 1006 1006 } 1007 1007 1008 1008 - // Sanity check for device type. 1008 1008 + // Validate device type. 1009 1009 switch (devices[index]->product_id) { 1010 1010 case PSMV_PID_ZCM1: break; 1011 1011 case PSMV_PID_ZCM2: break;

+1 -1

src/xrt/drivers/realsense/rs_ddev.c

··· 41 41 42 42 43 43 /*! 44 44 - * Stupid convenience macro to print out a pose, only used for debugging 44 44 + * Convenience macro to print out a pose, only used for debugging 45 45 */ 46 46 #define print_pose(msg, pose) \ 47 47 U_LOG_E(msg " %f %f %f %f %f %f %f", pose.position.x, pose.position.y, pose.position.z, pose.orientation.x, \

+1 -1

src/xrt/drivers/sample/sample_hmd.c

··· 5 5 * @brief Sample HMD device, use as a starting point to make your own device driver. 6 6 * 7 7 * 8 8 - * Based largely on dummy_hmd.c 8 8 + * Based largely on simulated_hmd.c 9 9 * 10 10 * @author Jakob Bornecrantz <jakob@collabora.com> 11 11 * @author Ryan Pavlik <ryan.pavlik@collabora.com>

+3 -2

src/xrt/drivers/survive/survive_driver.c

··· 1357 1357 } 1358 1358 1359 1359 #ifdef XRT_BUILD_DRIVER_HANDTRACKING 1360 1360 - // We want to hit this codepath when we find a HMD but no controllers. 1360 1360 + // We want to enter this codepath when we find a HMD but no controllers. 1361 1361 if ((ss->hmd != NULL) && !found_controllers) { 1362 1362 struct t_stereo_camera_calibration *cal = NULL; 1363 1363 ··· 1376 1376 out_xdevs[out_idx++] = two_hands[0]; 1377 1377 out_xdevs[out_idx++] = two_hands[1]; 1378 1378 } 1379 1379 - // Don't need it anymore. And it's not even created unless we hit this codepath, which is somewhat hard. 1379 1379 + // Don't need it anymore. And it's not even created unless we enter this codepath, which is somewhat 1380 1380 + // hard. 1380 1381 t_stereo_camera_calibration_reference(&cal, NULL); 1381 1382 } 1382 1383 #endif

+2 -2

src/xrt/drivers/ultraleap_v2/ulv2_driver.cpp

··· 183 183 ulv2_process_joint(nextJ(ld), fb(ld).basis(), fb(ld).width(), hi, xrtj(LITTLE_TIP)); 184 184 break; 185 185 // I hear that Sagittarius has a better api, in C even, so hopefully 186 186 - // there'll be less weird boilerplate whenever we get access to that 186 186 + // there'll be less weird boilerplate whenever we get that 187 187 } 188 188 } 189 189 } ··· 220 220 "connected to Leap Motion " 221 221 "controller. Retrying (%i / %i)", 222 222 i, num_tries); 223 223 - // This codepath should very rarely get hit as nowadays this gets probed by VID/PID, so you'd 223 223 + // This codepath should very rarely be enter as nowadays this gets probed by VID/PID, so you'd 224 224 // have to be pretty fast to unplug after it gets probed and before this check. 225 225 } else { 226 226 ULV2_INFO(ulv2d,

+1 -1

src/xrt/drivers/v4l2/v4l2_interface.h

··· 50 50 /*! 51 51 * Offset from start off frame to start of pixels. 52 52 * 53 53 - * Aka crop_scanline_bytes_start. 53 53 + * Also known as crop_scanline_bytes_start. 54 54 * 55 55 * Special case for ps4 camera 56 56 */

+1 -1

src/xrt/drivers/vive/vive_lighthouse.c

··· 435 435 } 436 436 437 437 if (frame->sweep_ids & (1 << id)) { 438 438 - LH_WARN("%s: sensor %u hit twice per frame, assuming reflection", watchman->name, id); 438 438 + LH_WARN("%s: sensor %u triggered twice per frame, assuming reflection", watchman->name, id); 439 439 return; 440 440 } 441 441

+2 -1

src/xrt/drivers/vive/vive_prober.c

··· 286 286 out_xdevs[out_idx++] = two_hands[0]; 287 287 out_xdevs[out_idx++] = two_hands[1]; 288 288 } 289 289 - // Don't need it anymore. And it's not even created unless we hit this codepath, which is somewhat hard. 289 289 + // Don't need it anymore. And it's not even created unless we enter this codepath, which is somewhat 290 290 + // hard. 290 291 t_stereo_camera_calibration_reference(&cal, NULL); 291 292 } 292 293 #endif

+1 -1

src/xrt/drivers/vive/vive_protocol.h

··· 276 276 { 277 277 uint8_t id; 278 278 struct vive_headset_lighthouse_v2_pulse pulse[4]; 279 279 - /* Seen to be all values in range [0 - 53], related to hit sensor (and 279 279 + /* Seen to be all values in range [0 - 53], related to triggered sensor (and 280 280 * imu?). */ 281 281 uint8_t unknown1; 282 282 /* Always 0 */