Found more typos

features/include/pcl/features/brisk_2d.h

@@ -140,7 +140,7 @@ namespace pcl
         *
         * \note This should never be called by a regular user. We use a fixed type in PCL 
         * (BRISKSignature512) and tampering with the parameters might lead to a different
-        * size descriptor which the user needs to accomodate in a new point type.
+        * size descriptor which the user needs to accommodate in a new point type.
         */
       void
       generateKernel (std::vector<float> &radius_list,

features/include/pcl/features/cvfh.h

@@ -201,7 +201,7 @@ namespace pcl
         min_points_ = min;
       }
 
-      /** \brief Sets wether if the CVFH signatures should be normalized or not
+      /** \brief Sets whether if the CVFH signatures should be normalized or not
         * \param[in] normalize true if normalization is required, false otherwise 
         */
       inline void
@@ -227,7 +227,7 @@ namespace pcl
         */
       float leaf_size_;
 
-      /** \brief Wether to normalize the signatures or not. Default: false. */
+      /** \brief Whether to normalize the signatures or not. Default: false. */
       bool normalize_bins_;
 
       /** \brief Curvature threshold for removing normals. */

features/include/pcl/features/impl/3dsc.hpp

@@ -263,7 +263,7 @@ pcl::ShapeContext3DEstimation<PointInT, PointNT, PointOutT>::computePoint (
       PCL_ERROR ("Shape Context Error INF!\n");
     if (w != w)
       PCL_ERROR ("Shape Context Error IND!\n");
-    /// Accumulate w into correspondant Bin(j,k,l)
+    /// Accumulate w into correspondent Bin(j,k,l)
     desc[(l*elevation_bins_*radius_bins_) + (k*radius_bins_) + j] += w;
 
     assert (desc[(l*elevation_bins_*radius_bins_) + (k*radius_bins_) + j] >= 0);

features/include/pcl/features/impl/fpfh_omp.hpp

@@ -108,7 +108,7 @@ pcl::FPFHEstimationOMP<PointInT, PointNT, PointOutT>::computeFeature (PointCloud
     spfh_hist_lookup[p_idx] = i;
   }
 
-  // Intialize the array that will store the FPFH signature
+  // Initialize the array that will store the FPFH signature
   int nr_bins = nr_bins_f1_ + nr_bins_f2_ + nr_bins_f3_;
 
   nn_indices.clear();

features/include/pcl/features/impl/moment_invariants.hpp

@@ -53,7 +53,7 @@ pcl::MomentInvariantsEstimation<PointInT, PointOutT>::computePointMomentInvarian
   // Estimate the XYZ centroid
   compute3DCentroid (cloud, indices, xyz_centroid_);
 
-  // Initalize the centralized moments
+  // Initialize the centralized moments
   float mu200 = 0, mu020 = 0, mu002 = 0, mu110 = 0, mu101 = 0, mu011  = 0;
 
   // Iterate over the nearest neighbors set
@@ -86,7 +86,7 @@ pcl::MomentInvariantsEstimation<PointInT, PointOutT>::computePointMomentInvarian
   // Estimate the XYZ centroid
   compute3DCentroid (cloud, xyz_centroid_);
 
-  // Initalize the centralized moments
+  // Initialize the centralized moments
   float mu200 = 0, mu020 = 0, mu002 = 0, mu110 = 0, mu101 = 0, mu011  = 0;
 
   // Iterate over the nearest neighbors set

features/include/pcl/features/impl/usc.hpp

@@ -235,7 +235,7 @@ pcl::UniqueShapeContext<PointInT, PointOutT, PointRFT>::computePointDescriptor (
       PCL_ERROR ("Shape Context Error INF!\n");
     if (w != w)
       PCL_ERROR ("Shape Context Error IND!\n");
-    /// Accumulate w into correspondant Bin(j,k,l)
+    /// Accumulate w into correspondent Bin(j,k,l)
     desc[(l*elevation_bins_*radius_bins_) + (k*radius_bins_) + j] += w;
 
     assert (desc[(l*elevation_bins_*radius_bins_) + (k*radius_bins_) + j] >= 0);

features/include/pcl/features/our_cvfh.h

@@ -245,7 +245,7 @@ namespace pcl
         min_points_ = min;
       }
 
-      /** \brief Sets wether if the signatures should be normalized or not
+      /** \brief Sets whether the signatures should be normalized or not
        * \param[in] normalize true if normalization is required, false otherwise
        */
       inline void
@@ -335,7 +335,7 @@ namespace pcl
        */
       float leaf_size_;
 
-      /** \brief Wether to normalize the signatures or not. Default: false. */
+      /** \brief Whether to normalize the signatures or not. Default: false. */
       bool normalize_bins_;
 
       /** \brief Curvature threshold for removing normals. */

features/include/pcl/features/rops_estimation.h

@@ -132,7 +132,7 @@ namespace pcl
 
       /** \brief This method crops all the triangles within the given radius of the given point.
         * \param[in] point point for which the local surface is computed
-        * \param[out] local_triangles strores the indices of the triangles that belong to the local surface
+        * \param[out] local_triangles stores the indices of the triangles that belong to the local surface
         * \param[out] local_points stores the indices of the points that belong to the local surface
         */
       void
@@ -141,7 +141,7 @@ namespace pcl
       /** \brief This method computes LRF (Local Reference Frame) matrix for the given point.
         * \param[in] point point for which the LRF is computed
         * \param[in] local_triangles list of triangles that represents the local surface of the point
-        * \paran[out] lrf_matrix strores computed LRF matrix for the given point
+        * \paran[out] lrf_matrix stores computed LRF matrix for the given point
         */
       void
       computeLRF (const PointInT& point, const std::set <unsigned int>& local_triangles, Eigen::Matrix3f& lrf_matrix) const;

features/include/pcl/features/rsd.h

@@ -47,7 +47,7 @@ namespace pcl
 {
   /** \brief Transform a list of 2D matrices into a point cloud containing the values in a vector (Histogram<N>).
     * Can be used to transform the 2D histograms obtained in \ref RSDEstimation into a point cloud.
-    * @note The template paramter N should be (greater or) equal to the product of the number of rows and columns.
+    * @note The template parameter N should be (greater or) equal to the product of the number of rows and columns.
     * \param[in] histograms2D the list of neighborhood 2D histograms
     * \param[out] histogramsPC the dataset containing the linearized matrices
     * \ingroup features

features/include/pcl/features/spin_image.h

@@ -68,7 +68,7 @@ namespace pcl
     * different than feature estimation methods that extend \ref
     * FeatureFromNormals, which match the normals with the search surface.
     *
-    * With the default paramters, pcl::Histogram<153> is a good choice for PointOutT.
+    * With the default parameters, pcl::Histogram<153> is a good choice for PointOutT.
     * Of course the dimension of this descriptor must change to match the number
     * of bins set by the parameters.
     *

features/include/pcl/features/usc.h

@@ -52,7 +52,7 @@ namespace pcl
     *   - F. Tombari, S. Salti, L. Di Stefano,
     *     "Unique Shape Context for 3D data description",
     *     International Workshop on 3D Object Retrieval (3DOR 10) -
-    *     in conjuction with ACM Multimedia 2010
+    *     in conjunction with ACM Multimedia 2010
     *
     * The suggested PointOutT is pcl::UniqueShapeContext1960
     *

gpu/kinfu/include/pcl/gpu/kinfu/kinfu.h

@@ -281,7 +281,7 @@ namespace pcl
         /** \brief Camera movement threshold. TSDF is integrated iff a camera movement metric exceedes some value. */
         float integration_metric_threshold_;
 
-        /** \brief ICP step is completelly disabled. Inly integratio now */
+        /** \brief ICP step is completely disabled. Only integration now. */
         bool disable_icp_;
 
         /** \brief Allocates all GPU internal buffers.

gpu/kinfu/include/pcl/gpu/kinfu/marching_cubes.h

@@ -76,8 +76,8 @@ namespace pcl
 
       /** \brief Runs marching cubes triangulation.
           * \param[in] tsdf
-          * \param[in] triangles_buffer Buffer for triangles. Its size determines max extracted triangles. If empty, it will be allocated with default size will be used.          
-          * \return Array with triangles. Each 3 consequent poits belond to a single triangle. The returned array points to 'triangles_buffer' data.
+          * \param[in] triangles_buffer Buffer for triangles. Its size determines max extracted triangles. If empty, it will be allocated with default size to be used.          
+          * \return Array with triangles. Each 3 consequent points belong to a single triangle. The returned array points to 'triangles_buffer' data.
           */
       DeviceArray<PointType> 
       run(const TsdfVolume& tsdf, DeviceArray<PointType>& triangles_buffer);
@@ -86,13 +86,13 @@ namespace pcl
       /** \brief Edge table for marching cubes  */
       DeviceArray<int> edgeTable_;
 
-      /** \brief Number of vertextes table for marching cubes  */
+      /** \brief Number of vertices table for marching cubes  */
       DeviceArray<int> numVertsTable_;
 
       /** \brief Triangles table for marching cubes  */
       DeviceArray<int> triTable_;     
 
-      /** \brief Temporary buffer used by marching cubes (first row stores occuped voxes id, second number of vetexes, third poits offsets */
+      /** \brief Temporary buffer used by marching cubes (first row stores occupied voxel id, second number of vertices, third points offsets */
       DeviceArray2D<int> occupied_voxels_buffer_;
     };
   }

gpu/kinfu/src/cuda/maps.cu

@@ -163,7 +163,7 @@ namespace pcl
 
       if (x < cols && y < rows)
       {
-        //vetexes
+        //vertices
         float3 vsrc, vdst = make_float3 (qnan, qnan, qnan);
         vsrc.x = vmap_src.ptr (y)[x];
 

gpu/kinfu/src/internal.h

@@ -96,7 +96,7 @@ namespace pcl
     // Maps
 
     /** \brief Performs bilateral filtering of disparity map
-      * \param[in] src soruce map
+      * \param[in] src source map
       * \param[out] dst output map
       */
     void 
@@ -152,7 +152,7 @@ namespace pcl
     ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
     //   ICP 
 
-    /** \brief (now it's exra code) Computes corespondances map
+    /** \brief (now it's extra code) Computes corespondances map
       * \param[in] vmap_g_curr current vertex map in global coo space
       * \param[in] nmap_g_curr current normals map in global coo space
       * \param[in] Rprev_inv inverse camera rotation at previous pose
@@ -168,7 +168,7 @@ namespace pcl
     findCoresp (const MapArr& vmap_g_curr, const MapArr& nmap_g_curr, const Mat33& Rprev_inv, const float3& tprev, const Intr& intr, 
                 const MapArr& vmap_g_prev, const MapArr& nmap_g_prev, float distThres, float angleThres, PtrStepSz<short2> coresp);
 
-    /** \brief (now it's exra code) Computation Ax=b for ICP iteration
+    /** \brief (now it's extra code) Computation Ax=b for ICP iteration
       * \param[in] v_dst destination vertex map (previous frame cloud)
       * \param[in] n_dst destination normal map (previous frame normals) 
       * \param[in] v_src source normal map (current frame cloud) 
@@ -289,7 +289,7 @@ namespace pcl
              const PtrStep<short2>& volume, MapArr& vmap, MapArr& nmap);
 
     /** \brief Renders 3D image of the scene
-      * \param[in] vmap vetex map
+      * \param[in] vmap vertex map
       * \param[in] nmap normals map
       * \param[in] light poase of light source
       * \param[out] dst buffer where image is generated
@@ -413,24 +413,24 @@ namespace pcl
     void 
     unbindTextures();
 
-    /** \brief Scans tsdf volume and retrieves occuped voxes
+    /** \brief Scans tsdf volume and retrieves occupied voxels
       * \param[in] volume tsdf volume
-      * \param[out] occupied_voxels buffer for occuped voxels. The function fulfills first row with voxel ids and second row with number of vertextes.
+      * \param[out] occupied_voxels buffer for occupied voxels. The function fulfills first row with voxel ids and second row with number of vertices.
       * \return number of voxels in the buffer
       */
     int
     getOccupiedVoxels(const PtrStep<short2>& volume, DeviceArray2D<int>& occupied_voxels);
 
     /** \brief Computes total number of vertexes for all voxels and offsets of vertexes in final triangle array
-      * \param[out] occupied_voxels buffer with occuped voxels. The function fulfills 3nd only with offsets      
+      * \param[out] occupied_voxels buffer with occupied voxels. The function fulfills 3nd only with offsets      
       * \return total number of vertexes
       */
     int
     computeOffsetsAndTotalVertexes(DeviceArray2D<int>& occupied_voxels);
 
     /** \brief Generates final triangle array
       * \param[in] volume tsdf volume
-      * \param[in] occupied_voxels occuped voxel ids (first row), number of vertexes(second row), offsets(third row).
+      * \param[in] occupied_voxels occupied voxel ids (first row), number of vertexes(second row), offsets(third row).
       * \param[in] volume_size volume size in meters
       * \param[out] output triangle array            
       */

gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/marching_cubes.h

@@ -81,7 +81,7 @@ namespace pcl
         /** \brief Runs marching cubes triangulation.
             * \param[in] tsdf
             * \param[in] triangles_buffer Buffer for triangles. Its size determines max extracted triangles. If empty, it will be allocated with default size will be used.          
-            * \return Array with triangles. Each 3 consequent poits belond to a single triangle. The returned array points to 'triangles_buffer' data.
+            * \return Array with triangles. Each 3 consequent points belong to a single triangle. The returned array points to 'triangles_buffer' data.
             */
         DeviceArray<PointType> 
         run(const TsdfVolume& tsdf, DeviceArray<PointType>& triangles_buffer);
@@ -90,13 +90,13 @@ namespace pcl
         /** \brief Edge table for marching cubes  */
         DeviceArray<int> edgeTable_;
 
-        /** \brief Number of vertextes table for marching cubes  */
+        /** \brief Number of vertices table for marching cubes  */
         DeviceArray<int> numVertsTable_;
 
         /** \brief Triangles table for marching cubes  */
         DeviceArray<int> triTable_;     
 
-        /** \brief Temporary buffer used by marching cubes (first row stores occuped voxes id, second number of vetexes, third poits offsets */
+        /** \brief Temporary buffer used by marching cubes (first row stores occupied voxel id, second number of vertices, third points offsets */
         DeviceArray2D<int> occupied_voxels_buffer_;
       };
     }

gpu/kinfu_large_scale/src/cuda/maps.cu

@@ -176,7 +176,7 @@ namespace pcl
 
         if (x < cols && y < rows)
         {
-          //vetexes
+          //vertices
           float3 vsrc, vdst = make_float3 (qnan, qnan, qnan);
           vsrc.x = vmap_src.ptr (y)[x];
 

gpu/kinfu_large_scale/src/internal.h

@@ -61,7 +61,7 @@ namespace pcl
       // Maps
 
       /** \brief Performs bilateral filtering of disparity map
-        * \param[in] src soruce map
+        * \param[in] src source map
         * \param[out] dst output map
         */
       void 
@@ -117,7 +117,7 @@ namespace pcl
       ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
       //   ICP 
 
-      /** \brief (now it's exra code) Computes corespondances map
+      /** \brief (now it's extra code) Computes corespondances map
         * \param[in] vmap_g_curr current vertex map in global coo space
         * \param[in] nmap_g_curr current normals map in global coo space
         * \param[in] Rprev_inv inverse camera rotation at previous pose
@@ -133,7 +133,7 @@ namespace pcl
       findCoresp (const MapArr& vmap_g_curr, const MapArr& nmap_g_curr, const Mat33& Rprev_inv, const float3& tprev, const Intr& intr, 
                   const MapArr& vmap_g_prev, const MapArr& nmap_g_prev, float distThres, float angleThres, PtrStepSz<short2> coresp);
 
-      /** \brief (now it's exra code) Computation Ax=b for ICP iteration
+      /** \brief (now it's extra code) Computation Ax=b for ICP iteration
         * \param[in] v_dst destination vertex map (previous frame cloud)
         * \param[in] n_dst destination normal map (previous frame normals) 
         * \param[in] v_src source normal map (current frame cloud) 
@@ -429,24 +429,24 @@ namespace pcl
       void 
       unbindTextures();
 
-      /** \brief Scans tsdf volume and retrieves occuped voxes
+      /** \brief Scans tsdf volume and retrieves occupied voxels
         * \param[in] volume tsdf volume
-        * \param[out] occupied_voxels buffer for occuped voxels. The function fulfills first row with voxel ids and second row with number of vertextes.
+        * \param[out] occupied_voxels buffer for occupied voxels. The function fulfills first row with voxel ids and second row with number of vertices.
         * \return number of voxels in the buffer
         */
       int
       getOccupiedVoxels(const PtrStep<short2>& volume, DeviceArray2D<int>& occupied_voxels);
 
-      /** \brief Computes total number of vertexes for all voxels and offsets of vertexes in final triangle array
-        * \param[out] occupied_voxels buffer with occuped voxels. The function fulfills 3nd only with offsets      
-        * \return total number of vertexes
+      /** \brief Computes total number of vertices for all voxels and offsets of vertices in final triangle array
+        * \param[out] occupied_voxels buffer with occupied voxels. The function fulfills 3nd only with offsets      
+        * \return total number of vertices
         */
       int
       computeOffsetsAndTotalVertexes(DeviceArray2D<int>& occupied_voxels);
 
       /** \brief Generates final triangle array
         * \param[in] volume tsdf volume
-        * \param[in] occupied_voxels occuped voxel ids (first row), number of vertexes(second row), offsets(third row).
+        * \param[in] occupied_voxels occupied voxel ids (first row), number of vertices(second row), offsets(third row).
         * \param[in] volume_size volume size in meters
         * \param[out] output triangle array            
         */

keypoints/include/pcl/keypoints/harris_2d.h

@@ -160,7 +160,7 @@ namespace pcl
       bool refine_;
       /// non maximas suppression
       bool nonmax_;
-      /// cornerness computation methode
+      /// cornerness computation method
       ResponseMethod method_;
       /// number of threads to be used
       unsigned int threads_;      

search/include/pcl/search/impl/organized.hpp

@@ -153,7 +153,7 @@ pcl::search::OrganizedNeighbor<PointT>::nearestKSearch (const PointT &query,
     testPoint (query, k, results, yBegin * input_->width + xBegin);
   else // point lys
   {
-    // find the box that touches the image border -> dont waste time evaluating boxes that are completely outside the image!
+    // find the box that touches the image border -> don't waste time evaluating boxes that are completely outside the image!
     int dist = std::numeric_limits<int>::max ();
 
     if (xBegin < 0)

simulation/include/pcl/simulation/range_likelihood.h

@@ -224,7 +224,7 @@ namespace pcl
         float camera_cy_;
 
         // min and max range of the rgbd sensor
-        // everything outside this doesnt appear in depth images
+        // everything outside this doesn't appear in depth images
         float z_near_;
         float z_far_;
 

simulation/include/pcl/simulation/sum_reduce.h

@@ -26,7 +26,7 @@ namespace pcl
   {
     /** \brief Implements a parallel summation of float arrays using GLSL.
      * The input array is provided as a float texture and the summation
-     * is performed over set number of levels, where each level halfs each
+     * is performed over set number of levels, where each level halves each
      * dimension.
      *
      * \author Hordur Johannsson

surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_beam.h

@@ -7,7 +7,7 @@
   2d xy profile to 3d world space.
 Parameters:
   P - [in] start or end of path
-  T - [in] unit tanget to path
+  T - [in] unit tangent to path
   U - [in] unit up vector perpendicular to T
   Normal - [in] optional unit vector with Normal->z > 0 that
      defines the unit normal to the miter plane.

surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_polyline.h

@@ -41,7 +41,7 @@ class ON_CLASS ON_Polyline : public ON_3dPointArray
 
   // Description:
   //   Create a regular polygon circumscribe about a circle.
-  //   The midpoints of the polygon's edges will be tanget to the
+  //   The midpoints of the polygon's edges will be tangent to the
   //   circle.
   // Parameters:
   //   circle - [in]

test/features/test_shot_lrf_estimation.cpp

@@ -84,7 +84,7 @@ TEST (PCL, SHOTLocalReferenceFrameEstimation)
   EXPECT_TRUE (pcl_isnan (bunny_LRF.at (24).x_axis[0]));
 
   // Expected Results
-  // point 15: tanget disambiguation
+  // point 15: tangent disambiguation
   //float point_15_conf = 0;
   Eigen::Vector3f point_15_x (-0.849213f, 0.528016f, 0.00593846f);
   Eigen::Vector3f point_15_y (0.274564f, 0.451135f, -0.849171f);