misc: Improve wmr and euroc docs, fix ht memory leak, stride for cv::Mats

src/xrt/auxiliary/tracking/t_euroc_recorder.cpp

@@ -114,7 +114,7 @@ euroc_recorder_save_frame(euroc_recorder *er, struct xrt_frame *frame, bool is_l
 	assert(frame->format == XRT_FORMAT_L8 || frame->format == XRT_FORMAT_R8G8B8); // Only formats supported
 	auto img_type = frame->format == XRT_FORMAT_L8 ? CV_8UC1 : CV_8UC3;
 	string img_path = path + "/mav0/" + cam_name + "/data/" + std::to_string(ts) + ".png";
-	cv::Mat img{(int)frame->height, (int)frame->width, img_type, frame->data};
+	cv::Mat img{(int)frame->height, (int)frame->width, img_type, frame->data, frame->stride};
 	cv::imwrite(img_path, img);
 }
 

src/xrt/auxiliary/tracking/t_tracker_slam.cpp

@@ -100,7 +100,7 @@ public:
 		auto img_type = frame->format == XRT_FORMAT_L8 ? CV_8UC1 : CV_8UC3;
 
 		// Wrap the frame data into a cv::Mat header
-		cv::Mat img{(int)frame->height, (int)frame->width, img_type, frame->data};
+		cv::Mat img{(int)frame->height, (int)frame->width, img_type, frame->data, frame->stride};
 
 		// Enable reference counting for a user-allocated cv::Mat (i.e., using existing frame->data)
 		img.u = this->allocate(img.dims, img.size.p, img.type(), img.data, img.step.p, ACCESS_RW,

src/xrt/drivers/euroc/euroc_player.cpp

@@ -44,7 +44,6 @@ enum euroc_player_ui_state
  *
  * @implements xrt_fs
  * @implements xrt_frame_node
- * @implements xrt_imu_sink
  */
 struct euroc_player
 {

src/xrt/drivers/ht/ht_driver.cpp

@@ -263,7 +263,9 @@ getUserConfig(struct ht_device *htd)
 			u_json_get_bool(u_json_get(dynamic_config_obj, "scribble_bounding_box"),
 			                &hdc->scribble_bounding_box);
 
-			U_LOG_E("Hey %s %s", dynamic_config_string, cJSON_Print(dynamic_config_obj));
+			char *dco_str = cJSON_Print(dynamic_config_obj);
+			U_LOG_D("Config %s %s", dynamic_config_string, dco_str);
+			free(dco_str);
 		}
 	}
 

src/xrt/drivers/wmr/wmr_common.h

@@ -20,7 +20,7 @@ extern "C" {
 /*!
  * Defines for the WMR driver.
  *
- * @ingroup drv_wmr
+ * @addtogroup drv_wmr
  * @{
  */
 

src/xrt/drivers/wmr/wmr_controller_protocol.h

@@ -21,7 +21,7 @@ extern "C" {
 /*!
  * WMR Motion Controller protocol constant and structures
  *
- * @ingroup drv_wmr
+ * @addtogroup drv_wmr
  * @{
  */
 
@@ -75,7 +75,7 @@ struct wmr_controller_input
 /*!
  * WMR Motion Controller protocol helpers
  *
- * @ingroup drv_wmr
+ * @addtogroup drv_wmr
  * @{
  */
 

src/xrt/drivers/wmr/wmr_hmd.h

@@ -43,9 +43,9 @@ struct wmr_headset_descriptor
 {
 	enum wmr_headset_type hmd_type;
 
-	/* String by which we recognise the device */
+	//! String by which we recognise the device
 	const char *dev_id_str;
-	/* Friendly ID string for debug */
+	//! Friendly ID string for debug
 	const char *debug_name;
 
 	int (*init_func)(struct wmr_hmd *wh);
@@ -54,12 +54,11 @@ struct wmr_headset_descriptor
 
 struct wmr_hmd_distortion_params
 {
-	/* Inverse affine transform to move from (undistorted) pixels
-	 * to image plane / normalised image coordinates
-	 */
+	//! Inverse affine transform to move from (undistorted) pixels
+	//! to image plane / normalised image coordinates
 	struct xrt_matrix_3x3 inv_affine_xform;
 
-	/* tan(angle) FoV min/max for X and Y in the input texture */
+	//! tan(angle) FoV min/max for X and Y in the input texture
 	struct xrt_vec2 tex_x_range;
 	struct xrt_vec2 tex_y_range;
 };
@@ -73,10 +72,10 @@ struct wmr_hmd
 
 	const struct wmr_headset_descriptor *hmd_desc;
 
-	/* firmware configuration block, with device names etc */
+	//! firmware configuration block, with device names etc
 	struct wmr_config_header config_hdr;
 
-	/* Config data parsed from the firmware JSON */
+	//! Config data parsed from the firmware JSON
 	struct wmr_hmd_config config;
 
 	//! Packet reading thread.
@@ -102,7 +101,7 @@ struct wmr_hmd
 	//! Latest proximity sensor value from the device.
 	uint8_t proximity_sensor;
 
-	/* Distortion related parameters */
+	//! Distortion related parameters
 	struct wmr_hmd_distortion_params distortion_params[2];
 
 	// Config-derived poses

src/xrt/drivers/wmr/wmr_protocol.h

@@ -23,7 +23,7 @@ extern "C" {
 /*!
  * WMR and MS HoloLens Sensors protocol constants and structures
  *
- * @ingroup drv_wmr
+ * @addtogroup drv_wmr
  * @{
  */
 
@@ -90,7 +90,7 @@ struct wmr_config_header
 /*!
  * WMR and MS HoloLens Sensors protocol helpers
  *
- * @ingroup drv_wmr
+ * @addtogroup drv_wmr
  * @{
  */