Misc. typos (cont.)

Found via `codespell -q 3 -I ../pcl-whitelist.txt`

Whitelist:
```
ang
childs
indeces
ith
lod
metre
metres
nd
ot
te
vertexes
```

examples/features/example_difference_of_normals.cpp

@@ -163,7 +163,7 @@ int main (int argc, char *argv[])
   don.setNormalScaleSmall(normals_small_scale);
 
   if(!don.initCompute ()){
-    std::cerr << "Error: Could not intialize DoN feature operator" << std::endl;
+    std::cerr << "Error: Could not initialize DoN feature operator" << std::endl;
     exit(EXIT_FAILURE);
   }
 

examples/segmentation/example_cpc_segmentation.cpp

@@ -189,8 +189,8 @@ LCCPSegmentation Parameters: \n\
 CPCSegmentation Parameters: \n\
   -cut <max_cuts>,<cutting_min_segments>,<min_cut_score> - Plane cutting parameters for splitting of segments\n\
        <max_cuts> - Perform cuts up to this recursion level. Cuts are performed in each segment separately (default 25)\n\
-       <cutting_min_segments> - Minumum number of supervoxels in the segment to perform cutting (default 400).\n\
-       <min_cut_score> - Minumum score a proposed cut needs to have for being cut (default 0.16)\n\
+       <cutting_min_segments> - Minimum number of supervoxels in the segment to perform cutting (default 400).\n\
+       <min_cut_score> - Minimum score a proposed cut needs to have for being cut (default 0.16)\n\
   -clocal - Use locally constrained cuts (recommended flag)\n\
   -cdir - Use directed weigths (recommended flag) \n\
   -cclean - Use clean cuts. \n\
@@ -255,7 +255,7 @@ CPCSegmentation Parameters: \n\
   {
     pcl::console::parse (argc, argv, "-o", outputname);
 
-    // If no filename is given, get output filename from inputname (strip seperators and file extension)
+    // If no filename is given, get output filename from inputname (strip separators and file extension)
     if (outputname.empty () || (outputname.at (0) == '-'))
     {
       outputname = pcd_filename;
@@ -348,7 +348,7 @@ CPCSegmentation Parameters: \n\
   textcolor = bg_white?0:1;
 
   pcl::console::print_info ("Maximum cuts: %d\n", max_cuts);
-  pcl::console::print_info ("Minumum segment siz: %d\n", cutting_min_segments);
+  pcl::console::print_info ("Minimum segment size: %d\n", cutting_min_segments);
   pcl::console::print_info ("Use local constrain: %d\n", use_local_constrain);
   pcl::console::print_info ("Use directed weights: %d\n", use_directed_cutting);
   pcl::console::print_info ("Use clean cuts: %d\n", use_clean_cutting);
@@ -386,7 +386,7 @@ CPCSegmentation Parameters: \n\
   /// Get the cloud of supervoxel centroid with normals and the colored cloud with supervoxel coloring (this is used for visulization)
   pcl::PointCloud<pcl::PointNormal>::Ptr sv_centroid_normal_cloud = pcl::SupervoxelClustering<PointT>::makeSupervoxelNormalCloud (supervoxel_clusters);
 
-  /// Set paramters for LCCP preprocessing and CPC (CPC inherits from LCCP, thus it includes LCCP's functionality)
+  /// Set parameters for LCCP preprocessing and CPC (CPC inherits from LCCP, thus it includes LCCP's functionality)
 
   PCL_INFO ("Starting Segmentation\n");
   pcl::CPCSegmentation<PointT> cpc;

examples/segmentation/example_extract_clusters_normals.cpp

@@ -90,7 +90,7 @@ main (int, char **argv)
 
   std::cout << "No of clusters formed are " << cluster_indices.size () << std::endl;
 
-  // Saving the clusters in seperate pcd files
+  // Saving the clusters in separate pcd files
   int j = 0;
   for (std::vector<pcl::PointIndices>::const_iterator it = cluster_indices.begin (); it != cluster_indices.end (); ++it)
   {

examples/segmentation/example_lccp_segmentation.cpp

@@ -226,7 +226,7 @@ LCCPSegmentation Parameters: \n\
   {
     pcl::console::parse (argc, argv, "-o", outputname);
 
-    // If no filename is given, get output filename from inputname (strip seperators and file extension)
+    // If no filename is given, get output filename from inputname (strip separators and file extension)
     if (outputname.empty () || (outputname.at (0) == '-'))
     {
       outputname = pcd_filename;

features/include/pcl/features/rops_estimation.h

@@ -125,7 +125,7 @@ namespace pcl
 
       /** \brief This method simply builds the list of triangles for every point.
         * The list of triangles for each point consists of indices of triangles it belongs to.
-        * The only purpose of this method is to improve perfomance of the algorithm.
+        * The only purpose of this method is to improve performance of the algorithm.
         */
       void
       buildListOfPointsTriangles ();
@@ -215,10 +215,10 @@ namespace pcl
       /** \brief Stores the angle step. Step is calculated with respect to number of rotations. */
       float step_;
 
-      /** \brief Stores the set of triangles reprsenting the mesh. */
+      /** \brief Stores the set of triangles representing the mesh. */
       std::vector <pcl::Vertices> triangles_;
 
-      /** \brief Stores the set of triangles for each point. Its purpose is to improve perfomance. */
+      /** \brief Stores the set of triangles for each point. Its purpose is to improve performance. */
       std::vector <std::vector <unsigned int> > triangles_of_the_point_;
 
     public:

geometry/include/pcl/geometry/mesh_traits.h

@@ -77,7 +77,7 @@ namespace pcl
       typedef EdgeDataT     EdgeData;
       typedef FaceDataT     FaceData;
 
-      /** \brief Specifies wether the mesh is manifold or not (only non-manifold vertices can be represented). */
+      /** \brief Specifies whether the mesh is manifold or not (only non-manifold vertices can be represented). */
       typedef boost::false_type IsManifold;
     };
   } // End namespace geometry

gpu/containers/include/pcl/gpu/containers/device_memory.h

@@ -75,7 +75,7 @@ namespace pcl
             /** \brief Copy constructor. Just increments reference counter. */
             DeviceMemory(const DeviceMemory& other_arg);
 
-            /** \brief Assigment operator. Just increments reference counter. */
+            /** \brief Assignment operator. Just increments reference counter. */
             DeviceMemory& operator=(const DeviceMemory& other_arg);
 
              /** \brief Allocates internal buffer in GPU memory. If internal buffer was created before the function recreates it with new size. If new and old sizes are equal it does nothing.               
@@ -167,7 +167,7 @@ namespace pcl
             /** \brief Copy constructor. Just increments reference counter. */
             DeviceMemory2D(const DeviceMemory2D& other_arg);
 
-            /** \brief Assigment operator. Just increments reference counter. */
+            /** \brief Assignment operator. Just increments reference counter. */
             DeviceMemory2D& operator=(const DeviceMemory2D& other_arg);
 
             /** \brief Allocates internal buffer in GPU memory. If internal buffer was created before the function recreates it with new size. If new and old sizes are equal it does nothing.
@@ -192,7 +192,7 @@ namespace pcl
               * */
             void upload(const void *host_ptr_arg, size_t host_step_arg, int rows_arg, int colsBytes_arg);
 
-            /** \brief Downloads data from internal buffer to CPU memory. User is resposible for correct host buffer size.
+            /** \brief Downloads data from internal buffer to CPU memory. User is responsible for correct host buffer size.
               * \param host_ptr_arg pointer to host buffer to download               
               * \param host_step_arg stride between two consecutive rows in bytes for host buffer             
               * */

gpu/containers/include/pcl/gpu/containers/initialization.h

@@ -50,20 +50,20 @@ namespace pcl
         /** \brief Sets active device to work with. */
         PCL_EXPORTS void setDevice(int device);
 
-        /** \brief Return devuce name for gived device. */
+        /** \brief Return device name for given device. */
         PCL_EXPORTS std::string getDeviceName(int device);
 
-        /** \brief Prints infromatoin about given cuda deivce or about all deivces
-         *  \param device: if < 0 prints info for all devices, otherwise the function interpets is as device id.
+        /** \brief Prints information about given cuda device or about all devices
+         *  \param device: if < 0 prints info for all devices, otherwise the function interprets it as device id.
          */
         void PCL_EXPORTS printCudaDeviceInfo(int device = -1);
 
-        /** \brief Prints infromatoin about given cuda deivce or about all deivces
-         *  \param device: if < 0 prints info for all devices, otherwise the function interpets is as device id.
+        /** \brief Prints information about given cuda device or about all devices
+         *  \param device: if < 0 prints info for all devices, otherwise the function interprets it as device id.
          */
         void PCL_EXPORTS printShortCudaDeviceInfo(int device = -1);
 
-        /** \brief Returns true if pre-Fermi generaton GPU. 
+        /** \brief Returns true if pre-Fermi generator GPU. 
           * \param device: device id to check, if < 0 checks current device.
           */
         bool PCL_EXPORTS checkIfPreFermiGPU(int device = -1);

gpu/containers/src/initialization.cpp

@@ -50,7 +50,7 @@ void throw_nogpu() { throw "PCL 2.0 exception"; }
 int  pcl::gpu::getCudaEnabledDeviceCount() { return 0; }
 void pcl::gpu::setDevice(int /*device*/) { throw_nogpu(); }
 std::string pcl::gpu::getDeviceName(int /*device*/) { throw_nogpu(); }
-void pcl::gpu::printCudaDeviceInfo(int /*deivce*/){ throw_nogpu(); }
+void pcl::gpu::printCudaDeviceInfo(int /*device*/){ throw_nogpu(); }
 void pcl::gpu::printShortCudaDeviceInfo(int /*device*/) { throw_nogpu(); }
 
 #else
@@ -111,7 +111,7 @@ namespace
     {
         // Defines for GPU Architecture types (using the SM version to determine the # of cores per SM
         typedef struct {
-            int SM; // 0xMm (hexidecimal notation), M = SM Major version, and m = SM minor version
+            int SM; // 0xMm (hexadecimal notation), M = SM Major version, and m = SM minor version
             int Cores;
         } SMtoCores;
 

gpu/features/include/pcl/gpu/features/device/eigen.hpp

@@ -154,7 +154,7 @@ namespace pcl
                     if (roots.x >= roots.y)
                         swap (roots.x, roots.y);
                 }
-                if (roots.x <= 0) // eigenval for symetric positive semi-definite matrix can not be negative! Set it to 0
+                if (roots.x <= 0) // eigenval for symmetric positive semi-definite matrix can not be negative! Set it to 0
                     computeRoots2 (c2, c1, roots);
             }
         }

gpu/features/src/spinimages.cu

@@ -244,7 +244,7 @@ namespace pcl
 					const float *amgles_end = amgles_beg + FSize;
 					const float *images_beg = simage_angles;
 
-					Block::transfrom(amgles_beg, amgles_end, images_beg, output.ptr(i_input), Div12eps());
+					Block::transform(amgles_beg, amgles_end, images_beg, output.ptr(i_input), Div12eps());
 					////Block::copy(amgles_beg, amgles_end, output.ptr(i_input));
 					//Block::copy(images_beg, images_beg + FSize, output.ptr(i_input));
 				}
@@ -259,7 +259,7 @@ namespace pcl
 					__syncthreads();
 
 					float sum = simage_angles[FSize];
-					Block::transfrom(simage_angles, simage_angles + FSize, output.ptr(i_input), DivValIfNonZero(sum));
+					Block::transform(simage_angles, simage_angles + FSize, output.ptr(i_input), DivValIfNonZero(sum));
 				}		
 			}
 

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

@@ -65,7 +65,7 @@ namespace pcl
         */
       ColorVolume(const TsdfVolume& tsdf, int max_weight = -1);
 
-      /** \brief Desctructor */
+      /** \brief Destructor */
       ~ColorVolume();
 
       /** \brief Resets color volume to uninitialized state */

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

@@ -101,7 +101,7 @@ namespace pcl
         getDepthIntrinsics (float& fx, float& fy, float& cx, float& cy);
 
 
-        /** \brief Sets initial camera pose relative to volume coordiante space
+        /** \brief Sets initial camera pose relative to volume coordinate space
           * \param[in] pose Initial camera pose
           */
         void

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

@@ -82,7 +82,7 @@ namespace pcl
       void
       setIntrinsics(float fx = 525.f, float fy = 525.f, float cx = -1, float cy = -1);
 
-      /** \brief Runs raycasting algorithm from given camera pose. It writes results to internal fiels.
+      /** \brief Runs raycasting algorithm from given camera pose. It writes results to internal files.
         * \param[in] volume tsdf volume container
         * \param[in] camera_pose camera pose
         */ 

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

@@ -69,7 +69,7 @@ namespace pcl
         */
       TsdfVolume(const Eigen::Vector3i& resolution);           
 
-      /** \brief Sets Tsdf volume size for each dimention
+      /** \brief Sets Tsdf volume size for each dimension
         * \param[in] size size of tsdf volume in meters
         */
       void
@@ -81,7 +81,7 @@ namespace pcl
       void
       setTsdfTruncDist (float distance);
 
-      /** \brief Returns tsdf volume container that point to data in GPU memroy */
+      /** \brief Returns tsdf volume container that point to data in GPU memory */
       DeviceArray2D<int> 
       data() const;
 

gpu/kinfu/src/cuda/tsdf_volume.cu

@@ -130,7 +130,7 @@ namespace pcl
         {
           float3 v_g = getVoxelGCoo (x, y, z);            //3 // p
 
-          //tranform to curr cam coo space
+          //transform to curr cam coo space
           float3 v = Rcurr_inv * (v_g - tcurr);           //4
 
           int2 coo;           //project to current cam

gpu/kinfu/src/cuda/utils.hpp

@@ -182,7 +182,7 @@ namespace pcl
            if (roots.x >= roots.y)
              swap (roots.x, roots.y);
          }
-         if (roots.x <= 0) // eigenval for symetric positive semi-definite matrix can not be negative! Set it to 0
+         if (roots.x <= 0) // eigenval for symmetric positive semi-definite matrix can not be negative! Set it to 0
            computeRoots2 (c2, c1, roots);
        }
      }

gpu/kinfu/src/internal.h

@@ -95,7 +95,7 @@ namespace pcl
     ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
     // Maps
 
-    /** \brief Perfoms bilateral filtering of disparity map
+    /** \brief Performs bilateral filtering of disparity map
       * \param[in] src soruce map
       * \param[out] dst output map
       */
@@ -131,7 +131,7 @@ namespace pcl
     void 
     computeNormalsEigen (const MapArr& vmap, MapArr& nmap);
 
-    /** \brief Performs affine tranform of vertex and normal maps
+    /** \brief Performs affine transform of vertex and normal maps
       * \param[in] vmap_src source vertex map
       * \param[in] nmap_src source vertex map
       * \param[in] Rmat Rotation mat
@@ -335,7 +335,7 @@ namespace pcl
     /** \brief Perform point cloud extraction from tsdf volume
       * \param[in] volume tsdf volume 
       * \param[in] volume_size size of the volume
-      * \param[out] output buffer large enought to store point cloud
+      * \param[out] output buffer large enough to store point cloud
       * \return number of point stored to passed buffer
       */ 
     PCL_EXPORTS size_t 

gpu/kinfu/src/kinfu.cpp

@@ -222,7 +222,7 @@ pcl::gpu::KinfuTracker::allocateBufffers (int rows, int cols)
     coresps_[i].create (pyr_rows, pyr_cols);
   }  
   depthRawScaled_.create (rows, cols);
-  // see estimate tranform for the magic numbers
+  // see estimate transform for the magic numbers
   gbuf_.create (27, 20*60);
   sumbuf_.create (27);
 }
@@ -297,7 +297,7 @@ pcl::gpu::KinfuTracker::operator() (const DepthMap& depth_raw,
       }
       else
       {
-        Rcurr = Rprev; // tranform to global coo for ith camera pose
+        Rcurr = Rprev; // transform to global coo for ith camera pose
         tcurr = tprev;
       }
       {
@@ -365,7 +365,7 @@ pcl::gpu::KinfuTracker::operator() (const DepthMap& depth_raw,
           }
         }
       }
-      //save tranform
+      //save transform
       rmats_.push_back (Rcurr);
       tvecs_.push_back (tcurr);
   } 

gpu/kinfu/tools/kinfu_app_sim.cpp

@@ -396,7 +396,7 @@ display_tic_toc (vector<double> &tic_toc,const string &fun_name)
 void
 capture (Eigen::Isometry3d pose_in,unsigned short* depth_buffer_mm,const uint8_t* color_buffer)//, string point_cloud_fname)
 {
-  // No reference image - but this is kept for compatability with range_test_v2:
+  // No reference image - but this is kept for compatibility with range_test_v2:
   float* reference = new float[range_likelihood_->getRowHeight() * range_likelihood_->getColWidth()];
   //const float* depth_buffer = range_likelihood_->getDepthBuffer();
   // Copy one image from our last as a reference.
@@ -1078,7 +1078,7 @@ struct KinFuApp
       PtrStepSz<const KinfuTracker::PixelRGB> rgb24_sim = PtrStepSz<const KinfuTracker::PixelRGB>(height, width, color_buf_, width);
       tic_toc.push_back (getTime ());
 
-      if (1==0){ // live capture - probably doesnt work anymore, left in here for comparison:
+      if (1==0){ // live capture - probably doesn't work anymore, left in here for comparison:
 	bool has_frame = evaluation_ptr_ ? evaluation_ptr_->grab(i, depth) : capture_.grab (depth, rgb24);      
 	if (!has_frame)
 	{
@@ -1382,7 +1382,7 @@ print_cli_help ()
   cout << "    --registration, -r              : enable registration mode" << endl; 
   cout << "    --integrate-colors, -ic         : enable color integration mode ( allows to get cloud with colors )" << endl;   
   cout << "    -volume_suze <size_in_meters>   : define integration volume size" << endl;   
-  cout << "    -dev <deivce>, -oni <oni_file>  : select depth source. Default will be selected if not specified" << endl;
+  cout << "    -dev <device>, -oni <oni_file>  : select depth source. Default will be selected if not specified" << endl;
   cout << "";
   cout << " For RGBD benchmark (Requires OpenCV):" << endl; 
   cout << "    -eval <eval_folder> [-match_file <associations_file_in_the_folder>]" << endl;

gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/color_volume.h

@@ -68,7 +68,7 @@ namespace pcl
           */
         ColorVolume(const TsdfVolume& tsdf, int max_weight = -1);
 
-        /** \brief Desctructor */
+        /** \brief Destructor */
         ~ColorVolume();
 
         /** \brief Resets color volume to uninitialized state */

gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/impl/world_model.hpp

@@ -228,7 +228,7 @@ pcl::kinfuLS::WorldModel<PointT>::getWorldAsCubes (const double size, std::vecto
 		}
 		else
 		{
-		  PCL_INFO ("Extracted cube was empty, skiping this one.\n");
+		  PCL_INFO ("Extracted cube was empty, skipping this one.\n");
 		}
 		origin.z += cubeSide * step_increment;
 	  }

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

@@ -105,7 +105,7 @@ namespace pcl
           void
           setDepthIntrinsics (float fx, float fy, float cx = -1, float cy = -1);
 
-          /** \brief Sets initial camera pose relative to volume coordiante space
+          /** \brief Sets initial camera pose relative to volume coordinate space
             * \param[in] pose Initial camera pose
             */
           void

gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/raycaster.h

@@ -88,7 +88,7 @@ namespace pcl
         void
         setIntrinsics(float fx = 525.f, float fy = 525.f, float cx = -1, float cy = -1);
 
-        /** \brief Runs raycasting algorithm from given camera pose. It writes results to internal fiels.
+        /** \brief Runs raycasting algorithm from given camera pose. It writes results to internal files.
           * \param[in] volume tsdf volume container
           * \param[in] camera_pose camera pose
           * \param buffer

gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/tsdf_volume.h

@@ -112,7 +112,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
           */
         TsdfVolume (const Eigen::Vector3i& resolution);           
 
-        /** \brief Sets Tsdf volume size for each dimention
+        /** \brief Sets Tsdf volume size for each dimension
           * \param[in] size size of tsdf volume in meters
           */
         void
@@ -124,7 +124,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
         void
         setTsdfTruncDist (float distance);
 
-        /** \brief Returns tsdf volume container that point to data in GPU memroy */
+        /** \brief Returns tsdf volume container that point to data in GPU memory */
         DeviceArray2D<int> 
         data () const;