Fix tons of typos (via lintian -i)

3rdparty/freeglut/freeglut_menu.c

@@ -719,7 +719,7 @@ void fghCalculateMenuBoxSize( void )
 
         /*
          * If the entry is a submenu, then it needs to be wider to
-         * accomodate the arrow. JCJ 31 July 2003
+         * accommodate the arrow. JCJ 31 July 2003
          */
         if (menuEntry->SubMenu )
             menuEntry->Width += glutBitmapLength(

3rdparty/xspublic/xscontroller/xsdevice_def.cpp

@@ -3702,7 +3702,7 @@ void XsDevice::removeRef()
 	\param data The data buffer
 	\param pageNr The page number
 	\param bankNr The bank number
-	\returns True if succesful
+	\returns True if successful
 */
 bool XsDevice::writeEmtsPage(uint8_t const* data, int pageNr, int bankNr)
 {

3rdparty/xspublic/xstypes/xsfile.c

@@ -312,7 +312,7 @@ XsResultValue XsFile_close(struct XsFile *thisPtr)
 
 /*!	\relates XsFile
 	\brief Writes unwritten data to the file
-	\returns XRV_OK if the flushing was succesful, an XRV_ERROR otherwise
+	\returns XRV_OK if the flushing was successful, an XRV_ERROR otherwise
 
 */
 XsResultValue XsFile_flush(struct XsFile *thisPtr)
@@ -458,7 +458,7 @@ XsResultValue XsFile_puts(struct XsFile *thisPtr, const char *str)
 /*!	\relates XsFile
 	\brief Moves the current file position relative to the start of the file
 	\param offset Position in the file to move to, relative to the start of the file
-	\returns XRV_OK if the seek was succesful
+	\returns XRV_OK if the seek was successful
 */
 XsResultValue XsFile_seek(struct XsFile *thisPtr, XsFilePos offset)
 {
@@ -472,7 +472,7 @@ XsResultValue XsFile_seek(struct XsFile *thisPtr, XsFilePos offset)
 /*!	\relates XsFile
 	\brief Moves the current file position relative to the end of the file
 	\param offset Position in the file to move to, relative to the end of the file
-	\returns XRV_OK if the seek was succesful
+	\returns XRV_OK if the seek was successful
 */
 XsResultValue XsFile_seek_r(struct XsFile *thisPtr, XsFilePos offset)
 {

apps/DifOdometry-Datasets/DifOdometry_Datasets.cpp

@@ -503,7 +503,7 @@ void CDifodoDatasets::loadFrame()
     // quat[3] = w, quat[4] = qx; quat[5] = qy; quat[6] = qz;
     // gt.setFromXYZQ(quat);
 
-    // Set the initial pose (if appropiate)
+    // Set the initial pose (if appropriate)
     if (first_pose == false)
     {
       cam_pose = gt + transf;

apps/SceneViewer3D/_DSceneViewerMain.cpp

@@ -820,7 +820,7 @@ void _DSceneViewerFrame::loadFromFile(const std::string& fil, bool isInASequence
     const double sceneMaxScale = std::max<double>(1000.0, (sceneBbox.max - sceneBbox.min).norm());
     openGLSceneRef->getViewport()->setViewportClipDistances(0.1, 5.0 * sceneMaxScale);
 
-    // Change the camera if necesary:
+    // Change the camera if necessary:
     if (openGLSceneRef->followCamera())
     {
       Viewport::Ptr view = openGLSceneRef->getViewport("main");

apps/ro-localization/CPosePDFParticlesExtended.h

@@ -124,7 +124,7 @@ class CPosePDFParticlesExtended :
    */
   ~CPosePDFParticlesExtended() override;
 
-  /** Copy operator, translating if necesary (for example, between particles
+  /** Copy operator, translating if necessary (for example, between particles
    * and gaussian representations)
    */
   void copyFrom(const CPosePDF& o) override;

apps/track-video-features/track-video-feats_main.cpp

@@ -453,7 +453,7 @@ int main(int argc, char** argv)
         CImage::setImagesPathBase(CRawlog::detectImagesDirectory(fil));
 
         cam->loadConfig(cfg, "CONFIG");
-        cam->initialize();  // This will raise an exception if neccesary
+        cam->initialize();  // This will raise an exception if necessary
       }
       else
       {
@@ -465,7 +465,7 @@ int main(int argc, char** argv)
         cfg.write("CONFIG", "ffmpeg_url", fil);
 
         cam->loadConfig(cfg, "CONFIG");
-        cam->initialize();  // This will raise an exception if neccesary
+        cam->initialize();  // This will raise an exception if necessary
       }
     }
 

doc/mrpt-zeromq-example/main_sub.cpp

@@ -19,52 +19,50 @@ using mrpt::DEG2RAD;
 
 int main()
 {
-	try
-	{
-		printf("Subscribing to server...\n");
-		void* context = zmq_ctx_new();
-		void* sub_sock = zmq_socket(context, ZMQ_SUB);
-		int rc = zmq_connect(sub_sock, "tcp://localhost:5555");
-		assert(rc == 0);
-		zmq_setsockopt(
-			sub_sock, ZMQ_SUBSCRIBE, "", 0);  // Subscribe to everything.
-		printf("Subscribed.\n");
+  try
+  {
+    printf("Subscribing to server...\n");
+    void* context = zmq_ctx_new();
+    void* sub_sock = zmq_socket(context, ZMQ_SUB);
+    int rc = zmq_connect(sub_sock, "tcp://localhost:5555");
+    assert(rc == 0);
+    zmq_setsockopt(sub_sock, ZMQ_SUBSCRIBE, "", 0);  // Subscribe to everything.
+    printf("Subscribed.\n");
 
-		for (int i = 0; i < 10; i++)
-		{
-			mrpt::serialization::CSerializable::Ptr obj;
-			size_t rx_len;
+    for (int i = 0; i < 10; i++)
+    {
+      mrpt::serialization::CSerializable::Ptr obj;
+      size_t rx_len;
 
-			printf("Waiting %d-th incomming pkt...", i);
-			obj = mrpt::serialization::mrpt_recv_from_zmq(
-				sub_sock, false /*false:blocking call*/, &rx_len);
-			if (obj)
-			{
-				printf(
-					"OK!. Type: `%s` (%u bytes)\n",
-					obj->GetRuntimeClass()->className,
-					static_cast<unsigned>(rx_len));
-			}
-			else
-			{
-				printf("failed!\n");
-			}
+      printf("Waiting %d-th incoming pkt...", i);
+      obj =
+          mrpt::serialization::mrpt_recv_from_zmq(sub_sock, false /*false:blocking call*/, &rx_len);
+      if (obj)
+      {
+        printf(
+            "OK!. Type: `%s` (%u bytes)\n", obj->GetRuntimeClass()->className,
+            static_cast<unsigned>(rx_len));
+      }
+      else
+      {
+        printf("failed!\n");
+      }
 
 #if 0
 			// Example for mrpt_recv_from_zmq_into():
 			mrpt::poses::CPose3D pose;
 			mrpt_recv_from_zmq_into(sub_sock, pose);
 			std::cout << "pose: "<< pose << std::endl;
 #endif
-		}
+    }
 
-		zmq_close(sub_sock);
-		zmq_ctx_destroy(context);
-		return 0;
-	}
-	catch (std::exception& e)
-	{
-		std::cerr << "**Exception**: " << e.what() << std::endl;
-		return -1;
-	}
+    zmq_close(sub_sock);
+    zmq_ctx_destroy(context);
+    return 0;
+  }
+  catch (std::exception& e)
+  {
+    std::cerr << "**Exception**: " << e.what() << std::endl;
+    return -1;
+  }
 }

doc/source/doxygen-docs/changelog.md

@@ -1257,7 +1257,7 @@
     - CICP: parameter `onlyClosestCorrespondences` deleted (always true now).
     - mrpt::slam::CICP API: Simplified and modernized to use only one output parameter, using std::optional.
   - \ref mrpt_system_grp
-    - functions to get timestamp as *local* time were removed, since they don't make sense. All timestamps in MRPT are UTC, and they can be formated as dates in either UTC or local time frames.
+    - functions to get timestamp as *local* time were removed, since they don't make sense. All timestamps in MRPT are UTC, and they can be formatted as dates in either UTC or local time frames.
     - Added: mrpt::system::WorkerThreadsPool
   - \ref mrpt_rtti_grp  [NEW IN MRPT 2.0.0]
     - All classes are now registered (and de/serialized) with their full name including namespaces. A backwards-compatible flag has been added to mrpt::rtti::findRegisteredClass().
@@ -2648,7 +2648,7 @@ href="http://code.google.com/p/mrpt/source/detail?r=3065" >r3065</a>
         - New methods mrpt::poses::SE_traits::pseudo_exp()
         - mrpt::system::CTimeLogger:
           - New method mrpt::system::CTimeLogger::getStats() for
-programatic execution time stats analysis - <a
+programmatic execution time stats analysis - <a
 href="http://code.google.com/p/mrpt/source/detail?r=2998" >r2998</a>
           - New method
 mrpt::system::CTimeLogger::registerUserMeasure() for making stats of

libs/bayes/include/mrpt/bayes/CKalmanFilterCapable_impl.h

@@ -116,7 +116,7 @@ void CKalmanFilterCapable<VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE>::runO
     }
 
     // Q is the process noise covariance matrix, is associated to the robot
-    // movement and is necesary to calculate the prediction P(k+1|k)
+    // movement and is necessary to calculate the prediction P(k+1|k)
     KFMatrix_VxV Q;
     OnTransitionNoise(Q);
 
@@ -149,7 +149,7 @@ void CKalmanFilterCapable<VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE>::runO
     // =============================================================
     for (size_t i = 0; i < VEH_SIZE; i++) m_xkk[i] = xv[i];
 
-    // Normalize, if neccesary.
+    // Normalize, if necessary.
     OnNormalizeStateVector();
 
   }  // end if (!skipPrediction)

libs/bayes/include/mrpt/bayes/CParticleFilterCapable.h

@@ -159,7 +159,7 @@ class CParticleFilterCapable
   virtual size_t particlesCount() const = 0;
 
   /** Performs the prediction stage of the Particle Filter.
-   *  This method simply selects the appropiate protected method according to
+   *  This method simply selects the appropriate protected method according to
    * the particle filter algorithm to run.
    * \sa
    * prediction_and_update_pfStandardProposal,prediction_and_update_pfAuxiliaryPFStandard,prediction_and_update_pfOptimalProposal,prediction_and_update_pfAuxiliaryPFOptimal

libs/bayes/include/mrpt/bayes/CParticleFilterData.h

@@ -93,7 +93,7 @@ struct CParticleFilterDataImpl : public CParticleFilterCapable
   }
 
   /** Replaces the old particles by copies determined by the indexes in
-   * "indx", performing an efficient copy of the necesary particles only and
+   * "indx", performing an efficient copy of the necessary particles only and
    * allowing the number of particles to change.*/
   void performSubstitution(const std::vector<size_t>& indx) override
   {

libs/comms/include/mrpt/comms/CSerialPort.h

@@ -22,7 +22,7 @@ namespace mrpt::comms
  * description, which is platform dependent.
  *
  *  In Windows they are numbered "COM1"-"COM4" and "\\.\COMXXX" for numbers
- * above. It is recomended to always use the prefix "\\.\" despite the actual
+ * above. It is recommended to always use the prefix "\\.\" despite the actual
  * port number.
  *
  *  In Linux the name must refer to the device, for example: "ttyUSB0","ttyS0".

libs/config/include/mrpt/config/CConfigFile.h

@@ -94,7 +94,7 @@ class CConfigFile : public CConfigFileBase
   /** Empties the "config file" */
   void clear() override;
 
-  /** Returs a list with all the keys into a section. */
+  /** Returns a list with all the keys into a section. */
   void getAllKeys(const std::string& section, std::vector<std::string>& keys) const override;
 
 };  // End of class def.

libs/config/include/mrpt/config/CConfigFileBase.h

@@ -86,10 +86,10 @@ class CConfigFileBase
     return ret;
   }
 
-  /** Returs a list with all the keys into a section */
+  /** Returns a list with all the keys into a section */
   virtual void getAllKeys(const std::string& section, std::vector<std::string>& keys) const = 0;
 
-  /** Returs, by value, a list with all the keys into a section */
+  /** Returns, by value, a list with all the keys into a section */
   std::vector<std::string> keys(const std::string& section) const
   {
     std::vector<std::string> keys;

libs/config/include/mrpt/config/CConfigFileMemory.h

@@ -66,7 +66,7 @@ class CConfigFileMemory : public CConfigFileBase
 
   /** Returns a list with all the section names */
   void getAllSections(std::vector<std::string>& sections) const override;
-  /** Returs a list with all the keys into a section */
+  /** Returns a list with all the keys into a section */
   void getAllKeys(const std::string& section, std::vector<std::string>& keys) const override;
 
  private:

libs/containers/include/mrpt/containers/CDynamicGrid.h

@@ -75,7 +75,7 @@ class CDynamicGrid
       const double resolution,
       const T* fill_value = nullptr)
   {
-    // Adjust sizes to adapt them to full sized cells acording to the
+    // Adjust sizes to adapt them to full sized cells according to the
     // resolution:
     m_x_min = resolution * round(x_min / resolution);
     m_y_min = resolution * round(y_min / resolution);
@@ -121,7 +121,7 @@ class CDynamicGrid
       const T& defaultValueNewCells,
       double additionalMarginMeters = 2.0)
   {
-    // Is resize really necesary?
+    // Is resize really necessary?
     if (new_x_min >= m_x_min && new_y_min >= m_y_min && new_x_max <= m_x_max &&
         new_y_max <= m_y_max)
       return;
@@ -140,7 +140,7 @@ class CDynamicGrid
       if (new_y_max > m_y_max) new_y_max = ceil(new_y_max + additionalMarginMeters);
     }
 
-    // Adjust sizes to adapt them to full sized cells acording to the
+    // Adjust sizes to adapt them to full sized cells according to the
     // resolution:
     if (fabs(new_x_min / m_resolution - round(new_x_min / m_resolution)) > 0.05f)
       new_x_min = m_resolution * round(new_x_min / m_resolution);

libs/containers/include/mrpt/containers/CDynamicGrid3D.h

@@ -59,7 +59,7 @@ class CDynamicGrid3D
       const T& defaultValueNewCells,
       coord_t additionalMarginMeters = 2)
   {
-    // Is resize really necesary?
+    // Is resize really necessary?
     if (new_x_min >= m_x_min && new_y_min >= m_y_min && new_z_min >= m_z_min &&
         new_x_max <= m_x_max && new_y_max <= m_y_max && new_z_max <= m_z_max)
       return;
@@ -82,7 +82,7 @@ class CDynamicGrid3D
       if (new_z_max > m_z_max) new_z_max = ceil(new_z_max + additionalMarginMeters);
     }
 
-    // Adjust sizes to adapt them to full sized cells acording to the
+    // Adjust sizes to adapt them to full sized cells according to the
     // resolution:
     if (fabs(new_x_min / m_resolution_xy - round(new_x_min / m_resolution_xy)) > 0.05)
       new_x_min = m_resolution_xy * round(new_x_min / m_resolution_xy);
@@ -171,7 +171,7 @@ class CDynamicGrid3D
   {
     const coord_t resolution_z = resolution_z_ > 0 ? resolution_z_ : resolution_xy;
 
-    // Adjust sizes to adapt them to full sized cells acording to the
+    // Adjust sizes to adapt them to full sized cells according to the
     // resolution:
     m_x_min = x_min;
     m_y_min = y_min;
@@ -338,7 +338,7 @@ class CDynamicGrid3D
 
  public:
   /** Serialization of all parameters, except the contents of each voxel
-   * (responsability of the derived class) */
+   * (responsibility of the derived class) */
   template <class ARCHIVE>
   void dyngridcommon_writeToStream(ARCHIVE& out) const
   {
@@ -349,7 +349,7 @@ class CDynamicGrid3D
         .template WriteAs<uint32_t>(m_size_z);
   }
   /** Serialization of all parameters, except the contents of each voxel
-   * (responsability of the derived class) */
+   * (responsibility of the derived class) */
   template <class ARCHIVE>
   void dyngridcommon_readFromStream(ARCHIVE& in)
   {

libs/graphs/include/mrpt/graphs/ScalarFactorGraph.h

@@ -79,7 +79,7 @@ class ScalarFactorGraph : public mrpt::system::COutputLogger
   /** Insert constraints into the GMRF problem.
    * \param listOfConstraints List of user-implemented constraints.
    * **A pointer to the passed object is kept**, but memory ownship *REMAINS*
-   * being responsability of the caller. This is
+   * being responsibility of the caller. This is
    * done such that arrays/vectors of constraints can be more efficiently
    * allocated if their type is known at build time.
    */

libs/graphs/src/CGraphPartitioner.cpp

@@ -301,7 +301,7 @@ void CGraphPartitioner<GRAPH_MATRIX, num_t>::exactBisection(
   else
     Adj = in_A;
 
-  // Brute force: compute all posible partitions:
+  // Brute force: compute all possible partitions:
   //-----------------------------------------------------------------
 
   // First combination: 1000...0000

libs/graphslam/include/mrpt/graphslam/CGraphSlamEngine.h

@@ -280,7 +280,7 @@ class CGraphSlamEngine : public mrpt::system::COutputLogger
   /**\brief Main class method responsible for parsing each measurement and
    * for executing graphSLAM.
    *
-   * \note Method reads each measurement seperately, so the application that
+   * \note Method reads each measurement separately, so the application that
    * invokes it is responsibe for fetching the measurements (e.g. from a
    * rawlog file).
    *
@@ -738,7 +738,7 @@ class CGraphSlamEngine : public mrpt::system::COutputLogger
    * \brief Flags for visualizing various trajectories/objects of interest.
    *
    * These are set from the .ini configuration file. The actual visualization
-   * of these objects can be overriden if the user issues the corresponding
+   * of these objects can be overridden if the user issues the corresponding
    * keystrokes in the CDisplayWindow3D. In order for them to have any
    * effect, a pointer to CDisplayWindow3D has to be given first.
    */

libs/graphslam/include/mrpt/graphslam/CGraphSlamEngine_impl.h

@@ -528,7 +528,7 @@ bool CGraphSlamEngine<GRAPH_T>::_execGraphSlamStep(
       m_last_laser_scan2D = scan;
 
       if (!m_first_laser_scan2D)
-      {  // capture first laser scan seperately
+      {  // capture first laser scan separately
         m_first_laser_scan2D = m_last_laser_scan2D;
       }
     }
@@ -1377,7 +1377,7 @@ void CGraphSlamEngine<GRAPH_T>::readGTFileRGBD_TUM(
     }
   }
 
-  // handle the first pose seperately
+  // handle the first pose separately
   // make sure that the ground-truth starts at 0.
   pose_t pose_diff;
   vector<string> curr_tokens;