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t/hand/mercury: Fix some doxygen warnings.

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Ryan Pavlik 2022-04-12 14:49:22 -05:00 committed by Jakob Bornecrantz
parent 62ff3bad54
commit e551f6a9b8
3 changed files with 7 additions and 7 deletions
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4
src/xrt/tracking/hand/mercury/hg_model.hpp
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@ -141,8 +141,8 @@ normalizeGrayscaleImage(cv::Mat &data_in, cv::Mat &data_out)
data_out *= 0.25 / stddev.at<double>(0, 0); data_out *= 0.25 / stddev.at<double>(0, 0);
// Calculate it again; mean has changed. Yes we odn't need to but it's easy // Calculate it again; mean has changed. Yes we don't need to but it's easy
//!@optimize //! @todo optimize
cv::meanStdDev(data_out, mean, stddev); cv::meanStdDev(data_out, mean, stddev);
data_out += (0.5 - mean.at<double>(0, 0)); data_out += (0.5 - mean.at<double>(0, 0));
} }

6
src/xrt/tracking/hand/mercury/kine/kinematic_main.cpp
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@ -177,7 +177,7 @@ clamp_to_x_axis(struct kinematic_hand_4f *hand,
// std::cout << bone->bone_relation.linear() * Eigen::Vector3f::UnitX() << "\n"; // std::cout << bone->bone_relation.linear() * Eigen::Vector3f::UnitX() << "\n";
if (clamp_angle) { if (clamp_angle) {
//!@optimize: get rid of 1 and 2, we only need 0. //! @todo optimize: get rid of 1 and 2, we only need 0.
// signed angle: asin(Cross product of -z and rot*-z X axis. // signed angle: asin(Cross product of -z and rot*-z X axis.
// U_LOG_E("before X clamp"); // U_LOG_E("before X clamp");
@ -197,7 +197,7 @@ clamp_to_x_axis(struct kinematic_hand_4f *hand,
//!@optimize Move the asin into constexpr land //! @todo optimize: Move the asin into constexpr land
// No, the sine of the joint limit // No, the sine of the joint limit
float rotation_value = asin(cross(0)); float rotation_value = asin(cross(0));
@ -470,4 +470,4 @@ free_kinematic_hand(kinematic_hand_4f **kinematic_hand) {
delete *kinematic_hand; delete *kinematic_hand;
} }
} // namespace xrt::tracking::hand::mercury::kine } // namespace xrt::tracking::hand::mercury::kine

4
src/xrt/tracking/hand/mercury/kine/kinematic_tiny_math.hpp
View file

@ -28,7 +28,7 @@ wct_to_quat(wct_t wct, struct xrt_quat *out)
xrt_quat just_twist; xrt_quat just_twist;
math_quat_from_angle_vector(wct.twist, &twist_axis, &just_twist); math_quat_from_angle_vector(wct.twist, &twist_axis, &just_twist);
//!@optimize This should be a matrix multiplication... //! @todo: optimize This should be a matrix multiplication...
*out = just_waggle; *out = just_waggle;
math_quat_rotate(out, &just_curl, out); math_quat_rotate(out, &just_curl, out);
math_quat_rotate(out, &just_twist, out); math_quat_rotate(out, &just_twist, out);
@ -52,4 +52,4 @@ clamp_to_r(float *in, float c, float r)
{ {
clamp(in, c - r, c + r); clamp(in, c - r, c + r);
} }
} // namespace xrt::tracking::hand::mercury::kine } // namespace xrt::tracking::hand::mercury::kine