Fix typos (#1508)

Signed-off-by: Jade Turner <[email protected]>

README.md

@@ -47,7 +47,7 @@ If you're cross-compiling, you'll need the wpilib toolchain installed. This can
 
 ## Out-of-Source Dependencies
 
-PhotonVision uses the following additonal out-of-source repositories for building code.
+PhotonVision uses the following additional out-of-source repositories for building code.
 
 - Base system images for Raspberry Pi & Orange Pi: https://github.com/PhotonVision/photon-image-modifier
 - C++ driver for Raspberry Pi CSI cameras: https://github.com/PhotonVision/photon-libcamera-gl-driver

docs/source/docs/contributing/building-docs.md

@@ -26,7 +26,7 @@ The built documentation is located at `docs/build/html/index.html` relative to t
 
 ## Docs Builds on Pull Requests
 
-Pre-merge builds of docs can be found at: `https://photonvision-docs--PRNUMBER.org.readthedocs.build/en/PRNUMBER/index.html`. These docs are republished on every commit to a pull request made to PhotonVision/photonvision-docs. For example, PR 325 would have pre-merge documentation published to `https://photonvision-docs--325.org.readthedocs.build/en/325/index.html`. Additionally, the pull requrest will have a link directly to the pre-release build of the docs. This build only runs when there is a change to files in the docs sub-folder.
+Pre-merge builds of docs can be found at: `https://photonvision-docs--PRNUMBER.org.readthedocs.build/en/PRNUMBER/index.html`. These docs are republished on every commit to a pull request made to PhotonVision/photonvision-docs. For example, PR 325 would have pre-merge documentation published to `https://photonvision-docs--325.org.readthedocs.build/en/325/index.html`. Additionally, the pull request will have a link directly to the pre-release build of the docs. This build only runs when there is a change to files in the docs sub-folder.
 
 ## Style Guide
 

docs/source/docs/installation/sw_install/raspberry-pi.md

@@ -7,7 +7,7 @@ A Pre-Built Raspberry Pi image is available for ease of installation.
 Download the latest release of the PhotonVision Raspberry image (.xz file) from the [releases page](https://github.com/PhotonVision/photonvision/releases). You do not need to extract the downloaded ZIP file.
 
 :::{note}
-Make sure you download the image that ends in '-RasberryPi.xz'.
+Make sure you download the image that ends in '-RaspberryPi.xz'.
 :::
 
 ## Flashing the Pi Image

photon-client/src/types/SettingTypes.ts

@@ -142,7 +142,7 @@ export interface CameraCalibrationResult {
   distCoeffs: JsonMatOfDouble;
   observations: BoardObservation[];
   calobjectWarp?: number[];
-  // We might have to omit observations for bandwith, so backend will send us this
+  // We might have to omit observations for bandwidth, so backend will send us this
   numSnapshots: number;
   meanErrors: number[];
 }

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

@@ -340,7 +340,8 @@ public File getModelsDirectory() {
 
     /**
      * Disable flushing settings to disk as part of our JVM exit hook. Used to prevent uploading all
-     * settings from getting its new configs overwritten at program exit and before theyre all loaded.
+     * settings from getting its new configs overwritten at program exit and before they're all
+     * loaded.
      */
     public void disableFlushOnShutdown() {
         this.flushOnShutdown = false;

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioCommand.java

@@ -28,7 +28,7 @@ public enum PigpioCommand {
     PCMD_WVDEL(50), // int wave_delete(unsigned wave_id)
     PCMD_WVTX(51), // int wave_tx_send(unsigned wave_id) (once)
     PCMD_WVTXR(52), // int wave_tx_send(unsigned wave_id) (repeat)
-    PCMD_GDC(83), // int get_duty_cyle(unsigned user_gpio)
+    PCMD_GDC(83), // int get_duty_cycle(unsigned user_gpio)
     PCMD_HP(86), // int hardware_pwm(unsigned gpio, unsigned PWMfreq, unsigned PWMduty)
     PCMD_WVTXM(100); // int wave_tx_send(unsigned wave_id, unsigned wave_mode)
 

photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/RK3588Cmds.java

@@ -27,7 +27,7 @@ public void initCmds(HardwareConfig config) {
         // CPU Temperature
         /* The RK3588 chip has 7 thermal zones that can be accessed via:
          *       /sys/class/thermal/thermal_zoneX/temp
-         * where X is an interger from 0 to 6.
+         * where X is an integer from 0 to 6.
          *
          * || Zone || Location    || Comments                                                ||
          * |    0  |  soc         |  soc thermal (near the center of the chip)                |

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

@@ -143,7 +143,7 @@ private QuirkyCamera(int usbVid, int usbPid, String baseName, CameraQuirk... qui
      * @param usbVid USB VID of camera
      * @param usbPid USB PID of camera
      * @param baseName CSCore name of camera
-     * @param displayName Human-friendly quicky camera name
+     * @param displayName Human-friendly quirky camera name
      * @param quirks Camera quirks
      */
     private QuirkyCamera(
@@ -160,7 +160,7 @@ private QuirkyCamera(
             this.quirks.put(q, true);
         }
 
-        // (2) for all other quirks in CameraQuirks (in this version of Photon), defalut to false
+        // (2) for all other quirks in CameraQuirks (in this version of Photon), default to false
         for (var q : CameraQuirk.values()) {
             this.quirks.putIfAbsent(q, false);
         }

photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java

@@ -152,17 +152,17 @@ private String getMatchData() {
         var matchType = ntMatchType.getAtomic();
         if (matchType.timestamp == 0) {
             // no NT info yet
-            logger.warn("Did not recieve match type, defaulting to 0");
+            logger.warn("Did not receive match type, defaulting to 0");
         }
 
         var matchNum = ntMatchNum.getAtomic();
         if (matchNum.timestamp == 0) {
-            logger.warn("Did not recieve match num, defaulting to -1");
+            logger.warn("Did not receive match num, defaulting to -1");
         }
 
         var eventName = ntEventName.getAtomic();
         if (eventName.timestamp == 0) {
-            logger.warn("Did not recieve event name, defaulting to 'UNKNOWN'");
+            logger.warn("Did not receive event name, defaulting to 'UNKNOWN'");
         }
 
         String matchTypeStr =

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

@@ -140,7 +140,7 @@ private List<Point> detectExtremeCornersByApproxPolyDp(TrackedTarget target, boo
         var compareDistToTr =
                 Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(2)));
 
-        // 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(compareDistToTl);
         var tl = pointList.get(0);
         pointList.remove(tl);

photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java

@@ -512,7 +512,7 @@ public void changePipelineType(int newType) {
         var oldSettings = userPipelineSettings.get(idx);
 
         var name = getCurrentPipelineSettings().pipelineNickname;
-        // Dummy settings to copy common fileds over
+        // Dummy settings to copy common fields over
         var newSettings = createSettingsForType(type, name);
 
         // Copy all fields from AdvancedPipelineSettings/its superclasses from old to new

photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java

@@ -535,7 +535,7 @@ public void setIgnoredCamerasRegex(String ignoredCamerasRegex) {
      * Filter out any blacklisted or ignored devices.
      *
      * @param allDevices
-     * @return list of devices with blacklisted or ingore devices removed.
+     * @return list of devices with blacklisted or ignore devices removed.
      */
     private List<CameraInfo> filterAllowedDevices(List<CameraInfo> allDevices) {
         List<CameraInfo> filteredDevices = new ArrayList<>();

photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java

@@ -59,7 +59,7 @@ public CameraConfiguration getConfiguration() {
     public abstract void setGain(int gain);
 
     // Pretty uncommon so instead of abstract this is just a no-op by default
-    // Overriden by cameras with AWB gain support
+    // Overriddenn by cameras with AWB gain support
     public void setRedGain(int red) {}
 
     public void setBlueGain(int blue) {}

photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java

@@ -287,7 +287,7 @@ public static void calibrateCommon(
     }
 
     /**
-     * Uses a given camera coefficents matrix set to "undistort" every image file found in a given
+     * Uses a given camera coefficientss matrix set to "undistort" every image file found in a given
      * directory and display them. Provides an easy way to visually debug the results of the
      * calibration routine. Seems to play havoc with CI and takes a chunk of time, so shouldn't
      * usually be left active in tests.

photon-core/src/test/java/org/photonvision/vision/pipeline/CalibrationRotationPipeTest.java

@@ -139,7 +139,7 @@ public void testUndistortImagePointsWithRotation(@Enum ImageRotationMode rot) {
 
         Point[] originalPoints = {new Point(100, 100), new Point(200, 200), new Point(300, 100)};
 
-        // Distort the origional points
+        // Distort the origonal points
         var distortedOriginalPoints =
                 OpenCVHelp.distortPoints(
                         List.of(originalPoints),
@@ -153,14 +153,14 @@ public void testUndistortImagePointsWithRotation(@Enum ImageRotationMode rot) {
                         .collect(Collectors.toList());
 
         // Now let's instead rotate then distort
-        var rotatedOrigionalPoints =
+        var rotatedOriginalPoints =
                 Arrays.stream(originalPoints)
                         .map(it -> rot.rotatePoint(it, frameProps.imageWidth, frameProps.imageHeight))
                         .collect(Collectors.toList());
 
         var distortedRotatedPoints =
                 OpenCVHelp.distortPoints(
-                        rotatedOrigionalPoints,
+                        rotatedOriginalPoints,
                         rotatedFrameProps.cameraCalibration.getCameraIntrinsicsMat(),
                         rotatedFrameProps.cameraCalibration.getDistCoeffsMat());
 

photon-core/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java

@@ -297,7 +297,7 @@ public void testDisableInhibitPathChangeIdenticalCams() {
                 new CameraConfiguration(
                         "Arducam OV2311 USB Camera",
                         "Arducam OV2311 USB Camera",
-                        "fromt-left",
+                        "front-left",
                         "/dev/video0",
                         CAM1_OLD_PATHS);
         camera1_saved_config.usbVID = 3141;
@@ -306,7 +306,7 @@ public void testDisableInhibitPathChangeIdenticalCams() {
                 new CameraConfiguration(
                         "Arducam OV2311 USB Camera",
                         "Arducam OV2311 USB Camera (1)",
-                        "fromt-left",
+                        "front-left",
                         "/dev/video2",
                         CAM2_OLD_PATH);
         camera2_saved_config.usbVID = 3141;
@@ -362,7 +362,7 @@ public void testInhibitPathChangeIdenticalCams() {
                 new CameraConfiguration(
                         "Arducam OV2311 USB Camera",
                         "Arducam OV2311 USB Camera (1)",
-                        "fromt-left",
+                        "front-left",
                         "/dev/video0",
                         CAM1_OLD_PATHS);
         camera1_saved_config.usbVID = 3141;
@@ -371,7 +371,7 @@ public void testInhibitPathChangeIdenticalCams() {
                 new CameraConfiguration(
                         "Arducam OV2311 USB Camera",
                         "Arducam OV2311 USB Camera (1)",
-                        "fromt-left",
+                        "front-left",
                         "/dev/video2",
                         CAM2_OLD_PATH);
         camera2_saved_config.usbVID = 3141;
@@ -571,7 +571,7 @@ public void testIdenticalCameras() {
                     ret1.stream().filter(it -> thisName.equals(it.cameraConfiguration.uniqueName)).count());
         }
 
-        // duplciate cameras, same info, new ref
+        // duplicate cameras, same info, new ref
         var duplicateCameraInfos = new ArrayList<CameraInfo>();
         CameraInfo info1_dup =
                 new CameraInfo(
@@ -609,7 +609,7 @@ public void testIdenticalCameras() {
         assertTrue(inst.knownCameras.contains(info2_dup));
         assertEquals(2, inst.knownCameras.size());
 
-        // duplciate cameras this simulates unplugging one and plugging the other in where v4l assigns
+        // duplicate cameras this simulates unplugging one and plugging the other in where v4l assigns
         // the same by-id path to the other camera
         var duplicateCameraInfos1 = new ArrayList<CameraInfo>();
         CameraInfo info3_dup =

photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java

@@ -408,7 +408,7 @@ private Optional<EstimatedRobotPose> multiTagOnCoprocStrategy(PhotonPipelineResu
                             result.getTargets(),
                             PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR));
         } else {
-            // We can nver fall back on another multitag strategy
+            // We can never fall back on another multitag strategy
             return update(result, Optional.empty(), Optional.empty(), this.multiTagFallbackStrategy);
         }
     }

photon-lib/src/test/java/org/photonvision/OpenCVTest.java

@@ -151,7 +151,7 @@ public void testProjection() {
         assertEquals(
                 actualRelation.camToTargPitch.getDegrees(),
                 pitchDiff.getDegrees()
-                        * Math.cos(yaw2d.getRadians()), // adjust for unaccounted perpsective distortion
+                        * Math.cos(yaw2d.getRadians()), // adjust for unaccounted perspective distortion
                 kRotDeltaDeg,
                 "2d pitch doesn't match 3d");
         assertEquals(

photon-serde/README.md

@@ -15,7 +15,7 @@ Like Rosmsg. But worse.
 The code for a single type is split across 3 files. Let's look at PnpResult:
 - [The struct definition](src/struct/pnpresult_struct.h): This is the data the object holds. Auto-generated. The data this object holds can be primitives or other, fully-deserialized types (like Vec2)
 - [The user class](src/targeting/pnpresult_struct.h): This is the fully-deserialized PnpResult type. This contains extra functions users might need to expose like `Amgiguity`, or other computed helper things.
-- [The serde interface](src/serde/pnpresult_struct.h): This is a template specilization for converting the user class to/from bytes
+- [The serde interface](src/serde/pnpresult_struct.h): This is a template specialization for converting the user class to/from bytes
 
 ## Prior art
 

photon-server/build.gradle

@@ -71,7 +71,7 @@ remotes {
 task findDeployTarget {
     doLast {
         if(project.hasProperty('tgtIP')){
-            //If user specificed IP, default to using the PI profile
+            //If user specified IP, default to using the PI profile
             // but adjust hostname to match the provided IP address
             findDeployTarget.ext.rmt = remotes.pi
             findDeployTarget.ext.rmt.host=tgtIP

photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java

@@ -203,7 +203,7 @@ public static List<TargetCorner> pointsToCorners(MatOfPoint2f matInput) {
      * @param <T> Element type
      * @param elements list elements
      * @param backwards If indexing should happen in reverse (0, size-1, size-2, ...)
-     * @param shiftStart How much the inital index should be shifted (instead of starting at index 0,
+     * @param shiftStart How much the initial index should be shifted (instead of starting at index 0,
      *     start at shiftStart, negated if backwards)
      * @return Reordered list
      */
@@ -257,7 +257,7 @@ private static Translation3d translationNWUtoEDN(Translation3d trl) {
      *
      * @param pointsList the undistorted points
      * @param cameraMatrix standard OpenCV camera mat
-     * @param distCoeffs standard OpenCV distortion coefficeints. Must OPENCV5 or OPENCV8
+     * @param distCoeffs standard OpenCV distortion coefficients. Must OPENCV5 or OPENCV8
      */
     public static List<Point> distortPoints(
             List<Point> pointsList, Mat cameraMatrix, Mat distCoeffs) {

photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java

@@ -119,7 +119,7 @@ public float getDetectedObjectConfidence() {
     }
 
     /**
-     * Get the ratio of best:alternate pose reprojection errors, called ambiguity. This is betweeen 0
+     * Get the ratio of best:alternate pose reprojection errors, called ambiguity. This is between 0
      * and 1 (0 being no ambiguity, and 1 meaning both have the same reprojection error). Numbers
      * above 0.2 are likely to be ambiguous. -1 if invalid.
      */

photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h

@@ -41,7 +41,7 @@ class PhotonPipelineResult : public PhotonPipelineResult_PhotonStruct {
   PhotonPipelineResult() : Base() {}
   explicit PhotonPipelineResult(Base&& data) : Base(data) {}
 
-  // Don't forget to deal with our ntRecieveTimestamp
+  // Don't forget to deal with our ntReceiveTimestamp
   PhotonPipelineResult(const PhotonPipelineResult& other)
       : Base(other), ntReceiveTimestamp(other.ntReceiveTimestamp) {}
   PhotonPipelineResult(PhotonPipelineResult& other)

photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h

@@ -111,7 +111,7 @@ class PhotonTrackedTarget : public PhotonTrackedTarget_PhotonStruct {
 
   /**
    * Get the ratio of best:alternate pose reprojection errors, called ambiguity.
-   * This is betweeen 0 and 1 (0 being no ambiguity, and 1 meaning both have the
+   * This is between 0 and 1 (0 being no ambiguity, and 1 meaning both have the
    * same reprojection error). Numbers above 0.2 are likely to be ambiguous. -1
    * if invalid.
    */

photonlib-cpp-examples/aimandrange/src/main/cpp/Robot.cpp

@@ -81,7 +81,7 @@ void Robot::TeleopPeriodic() {
           targetRange = photon::PhotonUtils::CalculateDistanceToTarget(
               0.5_m,      // Measured with a tape measure, or in CAD
               1.435_m,    // From 2024 game manual for ID 7
-              -30.0_deg,  // Measured witha protractor, or in CAD
+              -30.0_deg,  // Measured with a protractor, or in CAD
               units::degree_t{target.GetPitch()});
           targetVisible = true;
         }

scripts/generatePiImage.sh

@@ -31,7 +31,7 @@ then
     exit 1
 fi
 
-echo "Unziped image: " $IMAGE_FILE " -- mounting"
+echo "Unzipped image: " $IMAGE_FILE " -- mounting"
 TMP=$(mktemp -d)
 LOOP=$(sudo losetup --show -fP "${IMAGE_FILE}")
 echo "Image mounted! Copying jar..."

scripts/uninstall.sh

@@ -11,5 +11,5 @@ systemctl stop photonvision
 systemctl disable photonvision
 rm /lib/systemd/system/photonvision.service
 rm /etc/systemd/system/photonvision.service
-systemctl dameon-relaod
+systemctl daemeon-reload
 systemctl reset-failed

scripts/update.sh

@@ -30,4 +30,4 @@ curl -sk https://api.github.com/repos/photonvision/photonvision/releases/latest
 echo "Starting PhotonVision service"
 systemctl start photonvision
 
-echo "PhotonVision update succesful!"
+echo "PhotonVision update successful!"