a/tracking: Improve word choice/clarity

src/xrt/auxiliary/tracking/t_calibration.cpp

@@ -209,7 +209,7 @@ ensure_buffers_are_allocated(class Calibration &c, int rows, int cols)
 	}
 
 	// If our rgb is not allocated but our gray already is, alloc our rgb
-	// now. We will hit this path if we receive L8 format.
+	// now. We will end up in this path if we receive L8 format.
 	if (c.gray.cols == cols && c.gray.rows == rows) {
 		refresh_gui_frame(c, rows, cols);
 		return;
@@ -352,7 +352,7 @@ do_view_sb_checkers(class Calibration &c, struct ViewState &view, cv::Mat &gray,
 
 #ifdef SB_CHEESBOARD_CORNERS_MARKER_SUPPORTED
 	if (c.board.marker) {
-		// Only available in OpenCV 4.3 and above.
+		// Only available in OpenCV 4.3 and newer.
 		flags += cv::CALIB_CB_MARKER;
 	}
 #endif

src/xrt/auxiliary/tracking/t_calibration_opencv.hpp

@@ -25,7 +25,7 @@ namespace xrt::auxiliary::tracking {
 /*!
  * @brief Essential calibration data wrapped for C++.
  *
- * Just like the cv::Mat that it holds, this object does not own all the memory
+ * Like the cv::Mat that it holds, this object does not own all the memory
  * it points to!
  */
 struct CameraCalibrationWrapper
@@ -67,7 +67,7 @@ struct CameraCalibrationWrapper
 /*!
  * @brief Essential stereo calibration data wrapped for C++.
  *
- * Just like the cv::Mat that it holds, this object does not own (all) the
+ * Like the cv::Mat that it holds, this object does not own (all) the
  * memory it points to!
  */
 struct StereoCameraCalibrationWrapper
@@ -198,8 +198,7 @@ struct StereoRectificationMaps
 
 
 /*!
- * @brief Provides cached, precomputed access to normalized image coordinates
+ * @brief Provides cached, precomputed normalized image coordinates from original, distorted ones.
- * from original, distorted ones.
  *
  * Populates internal structures using cv::undistortPoints() and performs
  * subpixel sampling to interpolate for each query. Essentially, this class lets

src/xrt/auxiliary/tracking/t_data_utils.c

@@ -346,7 +346,7 @@ t_calibration_gui_params_load_or_default(struct t_calibration_params *p)
 {
 	t_calibration_gui_params_default(p);
 
-	// Load defaults from file, if it exists. This overwrites the above
+	// Load defaults from file, if it exists. This overwrites the preceding
 	struct u_config_json config_json = {0};
 
 	u_gui_state_open_file(&config_json);

src/xrt/auxiliary/tracking/t_euroc_recorder.cpp

@@ -100,7 +100,7 @@ euroc_recorder_flush(struct euroc_recorder *er)
 		er->imu_queue.pop();
 	}
 
-	// Flush csv streams. Not necessary, just doing it to increase flush frequency
+	// Flush csv streams. Not necessary, doing it only to increase flush frequency
 	er->imu_csv->flush();
 	er->left_cam_csv->flush();
 	er->right_cam_csv->flush();

src/xrt/auxiliary/tracking/t_file.cpp

@@ -119,7 +119,7 @@ StereoRectificationMaps::StereoRectificationMaps(t_stereo_camera_calibration *da
 		//! @todo for some reason this looks weird?
 		// Alpha of 1.0 kinda works, not really.
 		int flags = cv::CALIB_ZERO_DISPARITY;
-		double balance = 0.0; // aka alpha.
+		double balance = 0.0; // also known as alpha.
 		double fov_scale = 1.0;
 
 		cv::fisheye::stereoRectify(
@@ -217,8 +217,8 @@ t_stereo_camera_calibration_load_v1(FILE *calib_file, struct t_stereo_camera_cal
 	t_stereo_camera_calibration_alloc(&data_ptr, 5); // Hardcoded to 5 distortion parameters.
 	StereoCameraCalibrationWrapper wrapped(data_ptr);
 
-	// Dummy matrix
+	// Scratch-space temporary matrix
-	cv::Mat dummy;
+	cv::Mat scratch;
 
 	// Read our calibration from this file
 	// clang-format off
@@ -229,13 +229,13 @@ t_stereo_camera_calibration_load_v1(FILE *calib_file, struct t_stereo_camera_cal
 	result = result && read_cv_mat(calib_file, &wrapped.view[1].distortion_mat, "r_distortion"); // 5 x 1
 	result = result && read_cv_mat(calib_file, &wrapped.view[0].distortion_fisheye_mat, "l_distortion_fisheye"); // 4 x 1
 	result = result && read_cv_mat(calib_file, &wrapped.view[1].distortion_fisheye_mat, "r_distortion_fisheye"); // 4 x 1
-	result = result && read_cv_mat(calib_file, &dummy, "l_rotation"); // 3 x 3
+	result = result && read_cv_mat(calib_file, &scratch, "l_rotation"); // 3 x 3
-	result = result && read_cv_mat(calib_file, &dummy, "r_rotation"); // 3 x 3
+	result = result && read_cv_mat(calib_file, &scratch, "r_rotation"); // 3 x 3
-	result = result && read_cv_mat(calib_file, &dummy, "l_translation"); // empty
+	result = result && read_cv_mat(calib_file, &scratch, "l_translation"); // empty
-	result = result && read_cv_mat(calib_file, &dummy, "r_translation"); // empty
+	result = result && read_cv_mat(calib_file, &scratch, "r_translation"); // empty
-	result = result && read_cv_mat(calib_file, &dummy, "l_projection"); // 3 x 4
+	result = result && read_cv_mat(calib_file, &scratch, "l_projection"); // 3 x 4
-	result = result && read_cv_mat(calib_file, &dummy, "r_projection"); // 3 x 4
+	result = result && read_cv_mat(calib_file, &scratch, "r_projection"); // 3 x 4
-	result = result && read_cv_mat(calib_file, &dummy, "disparity_to_depth");  // 4 x 4
+	result = result && read_cv_mat(calib_file, &scratch, "disparity_to_depth");  // 4 x 4
 	result = result && read_cv_mat(calib_file, &mat_image_size, "mat_image_size");
 
 	if (!result) {
@@ -447,8 +447,8 @@ t_stereo_camera_calibration_save_v1(FILE *calib_file, struct t_stereo_camera_cal
 	CALIB_WARN("Deprecated function: %s", __func__);
 
 	StereoCameraCalibrationWrapper wrapped(data);
-	// Dummy matrix
+	// Scratch-space temporary matrix
-	cv::Mat dummy;
+	cv::Mat scratch;
 
 	write_cv_mat(calib_file, &wrapped.view[0].intrinsics_mat);
 	write_cv_mat(calib_file, &wrapped.view[1].intrinsics_mat);
@@ -456,13 +456,13 @@ t_stereo_camera_calibration_save_v1(FILE *calib_file, struct t_stereo_camera_cal
 	write_cv_mat(calib_file, &wrapped.view[1].distortion_mat);
 	write_cv_mat(calib_file, &wrapped.view[0].distortion_fisheye_mat);
 	write_cv_mat(calib_file, &wrapped.view[1].distortion_fisheye_mat);
-	write_cv_mat(calib_file, &dummy); // view[0].rotation_mat
+	write_cv_mat(calib_file, &scratch); // view[0].rotation_mat
-	write_cv_mat(calib_file, &dummy); // view[1].rotation_mat
+	write_cv_mat(calib_file, &scratch); // view[1].rotation_mat
-	write_cv_mat(calib_file, &dummy); // l_translation
+	write_cv_mat(calib_file, &scratch); // l_translation
-	write_cv_mat(calib_file, &dummy); // r_translation
+	write_cv_mat(calib_file, &scratch); // r_translation
-	write_cv_mat(calib_file, &dummy); // view[0].projection_mat
+	write_cv_mat(calib_file, &scratch); // view[0].projection_mat
-	write_cv_mat(calib_file, &dummy); // view[1].projection_mat
+	write_cv_mat(calib_file, &scratch); // view[1].projection_mat
-	write_cv_mat(calib_file, &dummy); // disparity_to_depth_mat
+	write_cv_mat(calib_file, &scratch); // disparity_to_depth_mat
 
 	cv::Mat mat_image_size;
 	mat_image_size.create(1, 2, CV_32F);

src/xrt/auxiliary/tracking/t_imu_fusion.hpp

@@ -268,7 +268,7 @@ SimpleIMUFusion::handleAccel(Eigen::Vector3d const &accel, timepoint_ns timestam
 			return false;
 		}
 
-		// Initially, just set it to totally trust gravity.
+		// Initially, set it to totally trust gravity.
 		started_ = true;
 		quat_ = Eigen::Quaterniond::FromTwoVectors(accel.normalized(), Eigen::Vector3d::UnitY());
 		accel_filter_.addSample(accel, timestamp);

src/xrt/auxiliary/tracking/t_tracker_psmv.cpp

@@ -173,8 +173,8 @@ do_view(TrackerPSMV &t, View &view, cv::Mat &grey, cv::Mat &rgb)
  * computed by your functor.
  *
  * Having this as a struct with a method, instead of a single "algorithm"-style
- * function, allows you to keep your complicated filtering logic in your own
+ * function, lets you keep your complicated filtering logic in your own
- * loop, just calling in when you have a new candidate for "best".
+ * loop, calling in when you have a new candidate for "best".
  *
  * @note Create by calling make_lowest_score_finder() with your
  * function/lambda that takes an element and returns the score, to deduce the

src/xrt/auxiliary/tracking/t_tracker_psmv_fusion.cpp

@@ -119,7 +119,7 @@ namespace {
 		imu.handleGyro(map_vec3(sample->gyro_rad_secs).cast<double>(), timestamp_ns);
 		imu.postCorrect();
 
-		//! @todo use better measurements instead of the above "simple
+		//! @todo use better measurements instead of the preceding "simple
 		//! fusion"
 		if (filter_time_ns != 0 && filter_time_ns != timestamp_ns) {
 			float dt = time_ns_to_s(timestamp_ns - filter_time_ns);

src/xrt/auxiliary/tracking/t_tracker_psvr.cpp

@@ -197,7 +197,7 @@ typedef struct match_data
 {
 	float angle = {};              // angle from reference vector
 	float distance = {};           // distance from base of reference vector
-	int32_t vertex_index = {};     // index aka tag
+	int32_t vertex_index = {};     // index also known as tag
 	Eigen::Vector4f position = {}; // 3d position of vertex
 	blob_point_t src_blob = {};    // blob this vertex was derived from
 } match_data_t;
@@ -915,7 +915,7 @@ disambiguate(TrackerPSVR &t,
 	uint32_t matched_vertex_indices[PSVR_NUM_LEDS];
 
 	// we can early-out if we are 'close enough' to our last match model.
-	// if we just hold the previous led configuration, this increases
+	// if we hold the previous led configuration, this increases
 	// performance and should cut down on jitter.
 	if (t.last_optical_model > 0 && t.done_correction) {
 
@@ -1293,9 +1293,8 @@ sample_line(cv::Mat &src, const cv::Point2i &start, const cv::Point2i &end, int
 			// cv is row, column
 			uint8_t *val = src.ptr(curr_y, curr_x);
 
-			// @todo: we are just counting pixels rather
+			/// @todo: we are counting pixels rather than measuring length - bresenhams may introduce some
-			// than measuring length - bresenhams may introduce some
+			/// inaccuracy here.
-			// inaccuracy here.
 			if (*val > 128) {
 				(*inside_length) += 1;
 			}