Typos

photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java

@@ -226,7 +226,7 @@ public String taToLogFname(TemporalAccessor date) {
     }
 
     public Date logFnameToDate(String fname) throws ParseException {
-        // Strip away known unneded portions of the log file name
+        // Strip away known unneeded portions of the log file name
         fname = fname.replace(LOG_PREFIX, "").replace(LOG_EXT, "");
         DateFormat format = new SimpleDateFormat(LOG_DATE_TIME_FORMAT);
         return format.parse(fname);

photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java

@@ -370,7 +370,7 @@ public String taToLogFname(TemporalAccessor date) {
     }
 
     public Date logFnameToDate(String fname) throws ParseException {
-        // Strip away known unneded portions of the log file name
+        // Strip away known unneeded portions of the log file name
         fname = fname.replace(LOG_PREFIX, "").replace(LOG_EXT, "");
         DateFormat format = new SimpleDateFormat(LOG_DATE_TIME_FORMAT);
         return format.parse(fname);

photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java

@@ -419,7 +419,7 @@ public boolean saveUploadedNetworkConfig(Path uploadPath) {
     private HashMap<String, CameraConfiguration> loadCameraConfigs(Connection conn) {
         HashMap<String, CameraConfiguration> loadedConfigurations = new HashMap<>();
 
-        // Querry every single row of the cameras db
+        // Query every single row of the cameras db
         PreparedStatement query = null;
         try {
             query =

photon-core/src/main/java/org/photonvision/common/logging/Logger.java

@@ -128,7 +128,7 @@ public static void cleanLogs(Path folderToClean) {
         HashMap<File, Date> logFileStartDateMap = new HashMap<>();
 
         // Remove any files from the list for which we can't parse a start date from their name.
-        // Simultaneously populate our HashMap with Date objects repeseting the file-name
+        // Simultaneously populate our HashMap with Date objects representing the file-name
         // indicated log start time.
         logFileList.removeIf(
                 (File arg0) -> {

photon-core/src/main/java/org/photonvision/common/networking/RoborioFinder.java

@@ -42,7 +42,7 @@ public static RoborioFinder getInstance() {
     public void findRios() {
         HashMap<String, Object> map = new HashMap<>();
         var subMap = new HashMap<String, Object>();
-        // Seperate from the above so we don't hold stuff up
+        // Separate from the above so we don't hold stuff up
         System.setProperty("java.net.preferIPv4Stack", "true");
         subMap.put(
                 "deviceips",

photon-core/src/main/java/org/photonvision/raspi/LibCameraJNI.java

@@ -120,7 +120,7 @@ public static boolean isSupported() {
 
     /**
      * Starts the camera thresholder and display threads running. Make sure that this function is
-     * called syncronously with stopCamera and returnFrame!
+     * called synchronously with stopCamera and returnFrame!
      */
     public static native boolean startCamera();
 
@@ -141,7 +141,7 @@ public static native boolean setThresholds(
     // Exposure time, in microseconds
     public static native boolean setExposure(int exposureUs);
 
-    // Set brighness on [-1, 1]
+    // Set brightness on [-1, 1]
     public static native boolean setBrightness(double brightness);
 
     // Unknown ranges for red and blue AWB gain
@@ -164,18 +164,18 @@ public static native boolean setThresholds(
     // Analog gain multiplier to apply to all color channels, on [1, Big Number]
     public static native boolean setAnalogGain(double analog);
 
-    /** Block until a new frame is avaliable from native code. */
+    /** Block until a new frame is available from native code. */
     public static native boolean awaitNewFrame();
 
     /**
-     * Get a pointer to the most recent color mat generated. Call this immediatly after awaitNewFrame,
-     * and call onlly once per new frame!
+     * Get a pointer to the most recent color mat generated. Call this immediately after awaitNewFrame,
+     * and call only once per new frame!
      */
     public static native long takeColorFrame();
 
     /**
-     * Get a pointer to the most recent processed mat generated. Call this immediatly after
-     * awaitNewFrame, and call onlly once per new frame!
+     * Get a pointer to the most recent processed mat generated. Call this immediately after
+     * awaitNewFrame, and call only once per new frame!
      */
     public static native long takeProcessedFrame();
 
@@ -186,6 +186,6 @@ public static native boolean setThresholds(
 
     public static native int getGpuProcessType();
 
-    // /** Release a frame pointer back to the libcamera driver code to be filled again */
+    // Release a frame pointer back to the libcamera driver code to be filled again */
     // public static native long returnFrame(long frame);
 }

photon-core/src/main/java/org/photonvision/vision/aruco/ArucoDetectorParams.java

@@ -47,7 +47,7 @@ public void setDecimation(float decimate) {
 
         logger.info("Setting decimation from " + m_decimate + " to " + decimate);
 
-        // We only need to mutate the parameters -- the detector keeps a poitner to the parameters
+        // We only need to mutate the parameters -- the detector keeps a pointer to the parameters
         // object internally, so it should automatically update
         parameters.set_aprilTagQuadDecimate(decimate);
         m_decimate = decimate;

photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java

@@ -123,16 +123,16 @@ public void setAutoExposure(boolean cameraAutoExposure) {
                 if (!cameraAutoExposure) {
                     // Pick a bunch of reasonable setting defaults for vision processing retroreflective
                     camera.getProperty("auto_exposure_bias").set(0);
-                    camera.getProperty("iso_sensitivity_auto").set(0); // Disable auto ISO adjustement
-                    camera.getProperty("iso_sensitivity").set(0); // Manual ISO adjustement
+                    camera.getProperty("iso_sensitivity_auto").set(0); // Disable auto ISO adjustment
+                    camera.getProperty("iso_sensitivity").set(0); // Manual ISO adjustment
                     camera.getProperty("white_balance_auto_preset").set(2); // Auto white-balance disabled
                     camera.getProperty("auto_exposure").set(1); // auto exposure disabled
                 } else {
                     // Pick a bunch of reasonable setting defaults for driver, fiducials, or otherwise
                     // nice-for-humans
                     camera.getProperty("auto_exposure_bias").set(12);
                     camera.getProperty("iso_sensitivity_auto").set(1);
-                    camera.getProperty("iso_sensitivity").set(1); // Manual ISO adjustement by default
+                    camera.getProperty("iso_sensitivity").set(1); // Manual ISO adjustment by default
                     camera.getProperty("white_balance_auto_preset").set(1); // Auto white-balance enabled
                     camera.getProperty("auto_exposure").set(0); // auto exposure enabled
                 }

photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java

@@ -44,7 +44,7 @@ public class Calibrate3dPipe
     // Stores the radical and tangential distortion in a 5x1 matrix
     private final MatOfDouble distortionCoefficients = new MatOfDouble();
 
-    // For loggging
+    // For logging
     private static final Logger logger = new Logger(Calibrate3dPipe.class, LogGroup.General);
 
     // Translational and rotational matrices

photon-core/src/main/java/org/photonvision/vision/pipe/impl/CornerDetectionPipe.java

@@ -151,7 +151,7 @@ private List<Point> detectExtremeCornersByApproxPolyDp(TrackedTarget target, boo
         var distanceToTrComparator =
                 Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(3)));
 
-        // top left and top right are the poly corners closest to the bouding box tl and tr
+        // top left and top right are the poly corners closest to the bounding box tl and tr
         pointList.sort(distanceToTlComparator);
         var tl = pointList.get(0);
         pointList.remove(tl);

photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java

@@ -115,7 +115,7 @@ protected Void process(Pair<Mat, List<TrackedTarget>> in) {
                 dividePointList(bottomPoints);
                 dividePointList(topPoints);
 
-                // floor, then pillers, then top
+                // floor, then pillars, then top
                 for (int i = 0; i < bottomPoints.size(); i++) {
                     Imgproc.line(
                             in.getLeft(),
@@ -237,11 +237,11 @@ private void distortPoints(MatOfPoint2f src, MatOfPoint2f dst) {
 
             double r2 = x * x + y * y; // square of the radius from center
 
-            // Radial distorsion
+            // Radial distortion
             double xDistort = x * (1 + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2);
             double yDistort = y * (1 + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2);
 
-            // Tangential distorsion
+            // Tangential distortion
             xDistort = xDistort + (2 * p1 * x * y + p2 * (r2 + 2 * x * x));
             yDistort = yDistort + (p1 * (r2 + 2 * y * y) + 2 * p2 * x * y);
 

photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java

@@ -50,7 +50,7 @@ public class FindBoardCornersPipe
 
     private final MatOfPoint2f boardCorners = new MatOfPoint2f();
 
-    // Intermedeate result mat's
+    // Intermediate result mat's
     Mat smallerInFrame = new Mat();
     MatOfPoint2f smallerBoardCorners = new MatOfPoint2f();
 

photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindCirclesPipe.java

@@ -121,7 +121,7 @@ public static class FindCirclePipeParams {
          * If the parameter is too small, multiple neighbor circles may be falsely detected in addition to a true one. If it is too large, some circles may be missed.
          *
          * @param maxCannyThresh -First method-specific parameter. In case of #HOUGH_GRADIENT and #HOUGH_GRADIENT_ALT, it is the higher threshold of the two passed to the Canny edge detector (the lower one is twice smaller).
-         * Note that #HOUGH_GRADIENT_ALT uses #Scharr algorithm to compute image derivatives, so the threshold value shough normally be higher, such as 300 or normally exposed and contrasty images.
+         * Note that #HOUGH_GRADIENT_ALT uses #Scharr algorithm to compute image derivatives, so the threshold value should normally be higher, such as 300 or normally exposed and contrasty images.
          *
          *
          * @param allowableThreshold - When finding the corresponding contour, this is used to see how close a center should be to a contour for it to be considered THAT contour.

photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java

@@ -46,7 +46,7 @@
 
 public class Calibrate3dPipeline
         extends CVPipeline<CVPipelineResult, Calibration3dPipelineSettings> {
-    // For loggging
+    // For logging
     private static final Logger logger = new Logger(Calibrate3dPipeline.class, LogGroup.General);
 
     // Only 2 pipes needed, one for finding the board corners and one for actually calibrating

photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java

@@ -204,7 +204,7 @@ public double getPoseAmbiguity() {
     }
 
     /**
-     * Set the approximate bouding polygon.
+     * Set the approximate bounding polygon.
      *
      * @param boundingPolygon List of points to copy. Not modified.
      */

photon-core/src/main/java/org/photonvision/vision/videoStream/SocketVideoStream.java

@@ -35,7 +35,7 @@ public class SocketVideoStream implements Consumer<CVMat> {
 
     // Gets set to true when another class reads out valid jpeg bytes at least once
     // Set back to false when another frame is freshly converted
-    // Should eliminate synchronization issues of differeing rates of putting frames in
+    // Should eliminate synchronization issues of differing rates of putting frames in
     // and taking them back out
     boolean frameWasConsumed = false;
 
@@ -64,7 +64,7 @@ public void accept(CVMat image) {
                     .tryLock()) { // we assume frames are coming in frequently. Just skip this frame if we're
                 // locked doing something else.
                 try {
-                    // Does a single-shot frame recieve and convert to JPEG for efficency
+                    // Does a single-shot frame receive and convert to JPEG for efficiency
                     // Will not capture/convert again until convertNextFrame() is called
                     if (image != null && !image.getMat().empty() && jpegBytes == null) {
                         frameWasConsumed = false;

photon-core/src/main/java/org/photonvision/vision/videoStream/SocketVideoStreamManager.java

@@ -92,7 +92,7 @@ public ByteBuffer getSendFrame(WsContext user) {
         }
     }
 
-    // Causes all streams to "re-trigger" and recieve and convert their next mjpeg frame
+    // Causes all streams to "re-trigger" and receive and convert their next mjpeg frame
     // Only invoke this after all returned jpeg Strings have been used.
     public void allStreamConvertNextFrame() {
         for (SocketVideoStream stream : streams.values()) {

photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java

@@ -107,13 +107,13 @@ public void deserializeConfig() {
 
         Assertions.assertTrue(
                 reflectivePipelineSettings instanceof ReflectivePipelineSettings,
-                "Conig loaded pipeline settings for index 0 not of expected type ReflectivePipelineSettings!");
+                "Config loaded pipeline settings for index 0 not of expected type ReflectivePipelineSettings!");
         Assertions.assertTrue(
                 coloredShapePipelineSettings instanceof ColoredShapePipelineSettings,
-                "Conig loaded pipeline settings for index 1 not of expected type ColoredShapePipelineSettings!");
+                "Config loaded pipeline settings for index 1 not of expected type ColoredShapePipelineSettings!");
         Assertions.assertTrue(
                 apriltagPipelineSettings instanceof AprilTagPipelineSettings,
-                "Conig loaded pipeline settings for index 2 not of expected type AprilTagPipelineSettings!");
+                "Config loaded pipeline settings for index 2 not of expected type AprilTagPipelineSettings!");
     }
 
     @AfterAll