Fix various typos

Found via `codespell -q 3 -S ./CHANGES.md,./surface/src/3rdparty,./surface/include/pcl/surface/3rdparty,./recognition/include/pcl/recognition/3rdparty -L ang,bu,childs,coo,currect,frome,gool,hsi,indeces,ihs,indext,ith,lod,meshe,metre,metres,nd,opps,ot,te,vertexes`

.ci/scripts/build_tutorials.sh

@@ -8,7 +8,7 @@ This script builds source code projects of PCL tutorials.
 
 Options:
 
-  -h             Dispaly this help and exit.
+  -h             Display this help and exit.
   -k             Keep going after a configuration/build error.
   -s             Print summary in the end.
   -e NAMES       Exclude tutorials from the build.

.dev/docker/env/Dockerfile

@@ -2,7 +2,7 @@ ARG UBUNTU_VERSION=20.04
 
 FROM "ubuntu:${UBUNTU_VERSION}"
 
-# Eigen patch (https://eigen.tuxfamily.org/bz/show_bug.cgi?id=1462) to fix issue metioned
+# Eigen patch (https://eigen.tuxfamily.org/bz/show_bug.cgi?id=1462) to fix issue mentioned
 # in https://github.com/PointCloudLibrary/pcl/issues/3729 is available in Eigen 3.3.7.
 # Not needed from 20.04 since it is the default version from apt
 ARG EIGEN_MINIMUM_VERSION=3.3.7
@@ -14,7 +14,7 @@ ARG ENSENSOSDK_VERSION=3.2.489
 ARG REALSENSE_VERSION=2.50.0
 
 # Check https://packages.ubuntu.com/search?suite=all&arch=any&searchon=names&keywords=libvtk%20qt-dev
-# for available packes for choosen UBUNTU_VERSION
+# for available packages for chosen UBUNTU_VERSION
 ARG VTK_VERSION=6
 
 # Use the latest version of CMake by adding the Kitware repository if true,

.dev/docker/perception_pcl_ros/Dockerfile

@@ -10,7 +10,7 @@ COPY ${flavor}_rosinstall.yaml ${workspace}/src/.rosinstall
 
 # Be careful:
 # * ROS uses Python2
-# * source ROS setup file in evey RUN snippet
+# * source ROS setup file in every RUN snippet
 #
 # The dependencies of PCL can be reduced since
 # * we don't need to build visualization or docs

.dev/docker/perception_pcl_ros/colcon.Dockerfile

@@ -9,7 +9,7 @@ ARG workspace="/root/catkin_ws"
 COPY ${flavor}_rosinstall.yaml ${workspace}/src/.rosinstall
 
 # Be careful:
-# * source ROS setup file in evey RUN snippet
+# * source ROS setup file in every RUN snippet
 #
 # TODO: The dependencies of PCL can be reduced since
 # * we don't need to build visualization or docs

.github/ISSUE_TEMPLATE/compilation-failure.md

@@ -15,9 +15,9 @@ Please paste the compilation results/errors.
 **To Reproduce**
 
 Provide a link to a live example, or an unambiguous set of steps to reproduce this bug. A reproducible example helps to provide faster answers. Custom OS, custom PCL configs or custom build systems make the issue difficult to reproduce.
-* Best reproducability: A docker image + code snippets provided here
-* Good reproducability: Common Linux OS + default PCL config + code snippets provided here
-* Poor reproducability: code snippets
+* Best reproducibility: A docker image + code snippets provided here
+* Good reproducibility: Common Linux OS + default PCL config + code snippets provided here
+* Poor reproducibility: code snippets
 
 Remember to reproduce the error in a clean rebuild (removing all build objects and starting build from scratch)
 

2d/include/pcl/2d/impl/edge.hpp

@@ -266,7 +266,7 @@ Edge<PointInT, PointOutT>::suppressNonMaxima(
   for (auto& point : maxima)
     point.intensity = 0.0f;
 
-  // tHigh and non-maximal supression
+  // tHigh and non-maximal suppression
   for (int i = 1; i < height - 1; i++) {
     for (int j = 1; j < width - 1; j++) {
       const PointXYZIEdge& ptedge = edges(j, i);
@@ -339,7 +339,7 @@ Edge<PointInT, PointOutT>::detectEdgeCanny(pcl::PointCloud<PointOutT>& output)
   // Edge discretization
   discretizeAngles(*edges);
 
-  // tHigh and non-maximal supression
+  // tHigh and non-maximal suppression
   pcl::PointCloud<PointXYZI>::Ptr maxima(new pcl::PointCloud<PointXYZI>);
   suppressNonMaxima(*edges, *maxima, tLow);
 

apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_composer_item.h

@@ -111,15 +111,15 @@ namespace pcl
     //    CloudPtrT
     //    getCloudPtr () const;
 
-        /** \brief Paint View function - reimpliment in item subclass if it can be displayed in PCLVisualizer*/
+        /** \brief Paint View function - reimpiement in item subclass if it can be displayed in PCLVisualizer*/
         virtual void
         paintView (pcl::visualization::PCLVisualizer::Ptr vis) const;
 
-        /** \brief Remove from View function - reimpliment in item subclass if it can be displayed in PCLVisualizer*/
+        /** \brief Remove from View function - reimpiement in item subclass if it can be displayed in PCLVisualizer*/
         virtual void
         removeFromView (pcl::visualization::PCLVisualizer::Ptr vis) const;
 
-        /** \brief Inspector additional tabs paint function - reimpliment in item subclass if item has additional tabs to show in Inspector*/
+        /** \brief Inspector additional tabs paint function - reimpiement in item subclass if item has additional tabs to show in Inspector*/
         virtual QMap <QString, QWidget*>
         getInspectorTabs ();
 

apps/cloud_composer/include/pcl/apps/cloud_composer/signal_multiplexer.h

@@ -94,7 +94,7 @@ namespace pcl
         connect (const char *signal, QObject *receiver, const char *slot);
 
         /**
-                Disconencts a signal from a multiplexed object to a receiving (action)
+                Disconnects a signal from a multiplexed object to a receiving (action)
                 object.
                 @see connect(const char *signal, QObject *receiver, const char *slot)
         */

apps/cloud_composer/include/pcl/apps/cloud_composer/tool_interface/tool_factory.h

@@ -69,7 +69,7 @@ namespace pcl
         virtual QString 
         getIconName () const = 0;
 
-        /** \brief Reimpliment this function to return the proper number if tool requires more than one input item */
+        /** \brief Reimpiement this function to return the proper number if tool requires more than one input item */
         inline virtual int
         getNumInputItems () const 
         { 

apps/cloud_composer/include/pcl/apps/cloud_composer/tools/organized_segmentation.h

@@ -58,7 +58,7 @@
        performTemplatedAction (const QList <const CloudComposerItem*>& input_data);
 
        inline QString
-       getToolName () const override { return "Organized Segmenation Tool";}
+       getToolName () const override { return "Organized Segmentation Tool";}
      };
 
 

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/mainWindow.h

@@ -68,7 +68,7 @@ class MainWindow : public QMainWindow
     /// @brief Constructor
     /// @param argc The number of c-strings to be expected in argv
     /// @param argv An array of c-strings.  The zero entry is expected to be
-    /// the name of the appliation.  Any additional strings will be interpreted
+    /// the name of the application.  Any additional strings will be interpreted
     /// as filenames designating point clouds to be loaded.
     MainWindow (int argc, char **argv);
 

apps/src/openni_planar_convex_hull.cpp

@@ -161,7 +161,7 @@ usage(char** argv)
       std::cout << "Device: " << deviceIdx + 1 << ", vendor: " << driver.getVendorName (deviceIdx) << ", product: " << driver.getProductName (deviceIdx)
               << ", connected: " << driver.getBus (deviceIdx) << " @ " << driver.getAddress (deviceIdx) << ", serial number: \'" << driver.getSerialNumber (deviceIdx) << "\'" << std::endl;
       std::cout << "device_id may be #1, #2, ... for the first second etc device in the list or" << std::endl
-           << "                 bus@address for the device connected to a specific usb-bus / address combination (wotks only in Linux) or" << std::endl
+           << "                 bus@address for the device connected to a specific usb-bus / address combination (works only in Linux) or" << std::endl
            << "                 <serial-number> (only in Linux and for devices which provide serial numbers)"  << std::endl;
       // clang-format on
     }

cmake/Modules/FindOpenMP.cmake

@@ -154,7 +154,7 @@ int main(void) {
 
 # in Fortran, an implementation may provide an omp_lib.h header
 # or omp_lib module, or both (OpenMP standard, section 3.1)
-# Furthmore !$ is the Fortran equivalent of #ifdef _OPENMP (OpenMP standard, 2.2.2)
+# Furthermore !$ is the Fortran equivalent of #ifdef _OPENMP (OpenMP standard, 2.2.2)
 # Without the conditional compilation, some compilers (e.g. PGI) might compile OpenMP code
 # while not actually enabling OpenMP, building code sequentially
 set(OpenMP_Fortran_TEST_SOURCE

cmake/Modules/FindPcap.cmake

@@ -38,7 +38,7 @@
 # Find the PCAP includes and library
 # http://www.tcpdump.org/
 #
-# The environment variable PCAPDIR allows to specficy where to find
+# The environment variable PCAPDIR allows to specify where to find
 # libpcap in non standard location.
 #
 # 2012/01/02 - KEVEN RING

cmake/pcl_targets.cmake

@@ -310,7 +310,7 @@ function(PCL_ADD_EXECUTABLE _name)
   endif()
 
   # Some app targets report are defined with subsys other than apps
-  # It's simpler check for tools and assume everythin else as an app
+  # It's simpler check for tools and assume everything else as an app
   if(${ARGS_COMPONENT} STREQUAL "tools")
     set_target_properties(${_name} PROPERTIES FOLDER "Tools")
   else()

common/include/pcl/common/gaussian.h

@@ -59,7 +59,7 @@ namespace pcl
     public:
 
       static const unsigned MAX_KERNEL_WIDTH = 71;
-      /** Computes the gaussian kernel and dervative assiociated to sigma.
+      /** Computes the gaussian kernel and dervative associated to sigma.
         * The kernel and derivative width are adjusted according.
         * \param[in] sigma
         * \param[out] kernel the computed gaussian kernel
@@ -71,7 +71,7 @@ namespace pcl
                Eigen::VectorXf &kernel,
                unsigned kernel_width = MAX_KERNEL_WIDTH) const;
 
-      /** Computes the gaussian kernel and dervative assiociated to sigma.
+      /** Computes the gaussian kernel and dervative associated to sigma.
         * The kernel and derivative width are adjusted according.
         * \param[in] sigma
         * \param[out] kernel the computed gaussian kernel

common/include/pcl/common/generate.h

@@ -48,7 +48,7 @@ namespace pcl
 
   namespace common
   {
-    /** \brief CloudGenerator class generates a point cloud using some randoom number generator.
+    /** \brief CloudGenerator class generates a point cloud using some random number generator.
       * Generators can be found in \file common/random.h and easily extensible.
       *  
       * \ingroup common
@@ -79,7 +79,7 @@ namespace pcl
                       const GeneratorParameters& z_params);
 
       /** Set parameters for x, y and z values. Uniqueness is ensured through seed incrementation.
-        * \param params parameteres for X, Y and Z values generation. 
+        * \param params parameters for X, Y and Z values generation. 
         */
       void
       setParameters (const GeneratorParameters& params);

common/include/pcl/pcl_macros.h

@@ -49,7 +49,7 @@
 
 #if defined _MSC_VER
   // 4244 : conversion from 'type1' to 'type2', possible loss of data
-  // 4661 : no suitable definition provided for explicit template instantiation reques
+  // 4661 : no suitable definition provided for explicit template instantiation request
   // 4503 : decorated name length exceeded, name was truncated
   // 4146 : unary minus operator applied to unsigned type, result still unsigned
   #pragma warning (disable: 4018 4244 4267 4521 4251 4661 4305 4503 4146)

common/include/pcl/point_cloud.h

@@ -204,7 +204,7 @@ namespace pcl
         , height (height_)
       {}
 
-      //TODO: check if copy/move contructors/assignment operators are needed
+      //TODO: check if copy/move constructors/assignment operators are needed
 
       /** \brief Add a point cloud to the current cloud.
         * \param[in] rhs the cloud to add to the current cloud

common/include/pcl/range_image/range_image.h

@@ -397,7 +397,7 @@ namespace pcl
       inline PointWithRange&
       getPoint (float image_x, float image_y);
 
-      /** \brief Return the 3D point with range at the given image position.  This methd performs no error checking
+      /** \brief Return the 3D point with range at the given image position.  This method performs no error checking
         * to make sure the specified image position is inside of the image!
         * \param image_x the x coordinate
         * \param image_y the y coordinate
@@ -590,13 +590,13 @@ namespace pcl
       getAcutenessValueImages (int pixel_distance, float*& acuteness_value_image_x,
                                float*& acuteness_value_image_y) const;
 
-      /** Calculates, how much the surface changes at a point. Pi meaning a flat suface and 0.0f
+      /** Calculates, how much the surface changes at a point. Pi meaning a flat surface and 0.0f
        *  would be a needle point */
       //inline float
       //  getSurfaceChange (const PointWithRange& point, const PointWithRange& neighbor1,
       //                   const PointWithRange& neighbor2) const;
 
-      /** Calculates, how much the surface changes at a point. 1 meaning a 90deg angle and 0 a flat suface */
+      /** Calculates, how much the surface changes at a point. 1 meaning a 90deg angle and 0 a flat surface */
       PCL_EXPORTS float
       getSurfaceChange (int x, int y, int radius) const;
 

cuda/common/include/pcl/cuda/cutil.h

@@ -595,7 +595,7 @@ extern "C" {
                  const unsigned int len, const float epsilon, const float threshold );
 
     ////////////////////////////////////////////////////////////////////////////////
-    //! Compare two integer arrays witha n epsilon tolerance for equality
+    //! Compare two integer arrays with n epsilon tolerance for equality
     //! @return  CUTTrue if \a reference and \a data are identical, 
     //!          otherwise CUTFalse
     //! @param reference  handle to the reference data / gold image

cuda/common/include/pcl/cuda/point_cloud.h

@@ -255,7 +255,7 @@ namespace pcl
           return (points_x.size ());
         }
 
-        /** \brief Check if the internal pooint data vectors are valid. */
+        /** \brief Check if the internal point data vectors are valid. */
         bool 
         sane () const
         {

cuda/features/include/pcl/cuda/features/normal_3d_kernels.h

@@ -80,7 +80,7 @@ namespace pcl
         float curvature = evals.x / (query_pt.z * (0.2f / 4.0f) * query_pt.z * (0.2f / 4.0f));
 
         float3 mc = normalize (evecs.data[0]);
-        // TODO: this should be an optional step, as it slows down eveything
+        // TODO: this should be an optional step, as it slows down everything
         // btw, this flips the normals to face the origin (assumed to be the view point)
         if ( dot (query_pt, mc) > 0 )
           mc = -mc;

doc/advanced/content/exceptions_guide.rst

@@ -102,6 +102,6 @@ rule that can be applied but here are some of the most used guidelines:
 
   * exit with some error if the exception is critical
   * modify the parameters for the function that threw the exception and recall it again
-  * throw an exception with a meaningful message saying that you encountred an exception
+  * throw an exception with a meaningful message saying that you encountered an exception
   * continue (really bad)
 

doc/advanced/content/pcl_style_guide.rst

@@ -397,7 +397,7 @@ For get/set type methods the following rules apply:
 * If large amounts of data needs to be set (usually the case with input data
   in PCL) it is preferred to pass a boost shared pointer instead of the actual
   data.
-* Getters always need to pass exactly the same types as their repsective setters
+* Getters always need to pass exactly the same types as their respective setters
   and vice versa.
 * For getters, if only one argument needs to be passed this will be done via
   the return keyword. If two or more arguments need to be passed they will

doc/tutorials/content/fpfh_estimation.rst

@@ -90,7 +90,7 @@ library.
 The default FPFH implementation uses 11 binning subdivisions (e.g., each of the
 four feature values will use this many bins from its value interval), and a
 decorrelated scheme (see above: the feature histograms are computed separately
-and concantenated) which results in a 33-byte array of float values. These are
+and concatenated) which results in a 33-byte array of float values. These are
 stored in a **pcl::FPFHSignature33** point type.
 
 The following code snippet will estimate a set of FPFH features for all the

doc/tutorials/content/function_filter.rst

@@ -4,7 +4,7 @@ Removing outliers using a custom non-destructive condition
 ----------------------------------------------------------
 
 This document demonstrates how to use the FunctionFilter class to remove points from a PointCloud that do not satisfy a custom criteria. This is a cleaner
-and faster appraoch compared to ConditionalRemoval filter or a `custom Condition class <https://cpp-optimizations.netlify.app/pcl_filter/>`_.
+and faster approach compared to ConditionalRemoval filter or a `custom Condition class <https://cpp-optimizations.netlify.app/pcl_filter/>`_.
 
 .. note::
    Advanced users can use the FunctorFilter class that can provide a small but measurable speedup when used with a `lambda <https://en.cppreference.com/w/cpp/language/lambda>`_.

doc/tutorials/content/gpu_install.rst

@@ -4,7 +4,7 @@ Configuring your PC to use your Nvidia GPU with PCL
 ---------------------------------------------------
 
 In this tutorial you will learn how to configure your system to make it compatible to run the GPU methods provided by PCL.
-This tutorial is for Ubuntu, other Linux distrubutions can follow a similar process to set it up.  
+This tutorial is for Ubuntu, other Linux distributions can follow a similar process to set it up.  
 
 Windows is currently  **not** officially supported for the GPU methods.
 

doc/tutorials/content/min_cut_segmentation.rst

@@ -78,7 +78,7 @@ The purpose of these lines is to show that ``pcl::MinCutSegmentation`` class can
    :lines: 21-21
 
 Here is the line where the instantiation of the ``pcl::MinCutSegmentation`` class takes place.
-It is the tamplate class that has only one parameter - PointT - which says what type of points will be used.
+It is the template class that has only one parameter - PointT - which says what type of points will be used.
 
 .. literalinclude:: sources/min_cut_segmentation/min_cut_segmentation.cpp
    :language: cpp

doc/tutorials/content/qt_colorize_cloud.rst

@@ -82,7 +82,7 @@ pclviewer.cpp
    :language: cpp
    :lines: 8-12
 
-We initialize the members of our class to default values (note that theses values should match with the UI buttons ticked)
+We initialize the members of our class to default values (note that these values should match with the UI buttons ticked)
 
 .. literalinclude:: sources/qt_colorize_cloud/pclviewer.cpp
    :language: cpp

doc/tutorials/content/qt_visualizer.rst

@@ -52,7 +52,7 @@ Use relative paths like this is better than absolute paths; this project should
 We specify in the general section that we want to build in the folder ``../build`` (this is a relative path from the ``.pro`` file).
 
 The first step of the building is to call ``cmake`` (from the ``build`` folder) with argument ``../src``; this is gonna create all files in the
-``build`` folder without modifying anything in the ``src`` foler; thus keeping it clean.
+``build`` folder without modifying anything in the ``src`` folder; thus keeping it clean.
 
 Then we just have to compile our program; the argument ``-j2`` allow to specify how many thread of your CPU you want to use for compilation. The more thread you use
 the faster the compilation will be (especially on big projects); but if you take all threads from the CPU your OS will likely be unresponsive during 
@@ -192,7 +192,7 @@ Here we connect slots and signals, this links UI actions to functions. Here is a
 
 | This is the last part of our constructor; we add the point cloud to the visualizer, call the method ``pSliderValueChanged`` to change the point size to 2.
 
-We finally reset the camera within the PCL Visualizer not avoid the user having to zoom out and refesh the view to be 
+We finally reset the camera within the PCL Visualizer not avoid the user having to zoom out and refresh the view to be 
 sure the modifications will be displayed.
 
 .. literalinclude:: sources/qt_visualizer/pclviewer.cpp

doc/tutorials/content/sources/gpu/people_detect/src/people_detect.cpp

@@ -318,7 +318,7 @@ class PeoplePCDApp
 
 int main(int argc, char** argv)
 {
-  // selecting GPU and prining info
+  // selecting GPU and printing info
   int device = 0;
   pc::parse_argument (argc, argv, "-gpu", device);
   pcl::gpu::setDevice (device);

doc/tutorials/content/sources/pcl_plotter/pcl_plotter_demo.cpp

@@ -47,7 +47,7 @@ main ()
   //setting some properties
   plotter->setShowLegend (true);
 
-  //generating point correspondances
+  //generating point correspondences
   int numPoints = 69;
   double ax[100], acos[100], asin[100];
   generateData (ax, acos, asin, numPoints);

doc/tutorials/content/sources/vfh_recognition/nearest_neighbors.cpp

@@ -267,7 +267,7 @@ main (int argc, char** argv)
     // Add the cluster name
     p.addText (cloud_name, 20, 10, cloud_name, viewport);
   }
-  // Add coordianate systems to all viewports
+  // Add coordinate systems to all viewports
   p.addCoordinateSystem (0.1, "global", 0);
 
   p.spin ();