Improved docstrings and error messages

common/include/pcl/common/common.h

@@ -102,8 +102,8 @@ namespace pcl
 
   /** \brief Get the point at maximum distance from a given point and a given pointcloud
     * \param cloud the point cloud data message
-    * \param pivot_pt the point from where to compute the distance
     * \param indices the vector of point indices to use from \a cloud
+    * \param pivot_pt the point from where to compute the distance
     * \param max_pt the point in cloud that is the farthest point away from pivot_pt
     * \ingroup common
     */

common/include/pcl/common/io.h

@@ -51,7 +51,7 @@
 namespace pcl
 {
   /** \brief Get the index of a specified field (i.e., dimension/channel)
-    * \param[in] cloud the the point cloud message
+    * \param[in] cloud the point cloud message
     * \param[in] field_name the string defining the field name
     * \ingroup common
     */
@@ -66,7 +66,7 @@ namespace pcl
   }
 
   /** \brief Get the index of a specified field (i.e., dimension/channel)
-    * \param[in] cloud the the point cloud message
+    * \param[in] cloud the point cloud message
     * \param[in] field_name the string defining the field name
     * \param[out] fields a vector to the original \a PCLPointField vector that the raw PointCloud message contains
     * \ingroup common
@@ -100,7 +100,7 @@ namespace pcl
   getFields (std::vector<pcl::PCLPointField> &fields);
 
   /** \brief Get the list of all fields available in a given cloud
-    * \param[in] cloud the the point cloud message
+    * \param[in] cloud the point cloud message
     * \ingroup common
     */
   template <typename PointT> inline std::string 

common/include/pcl/common/poses_from_matches.h

@@ -44,7 +44,7 @@
 namespace pcl
 {
   /**
-    * \brief calculate 3D transformation based on point correspondencdes
+    * \brief calculate 3D transformation based on point correspondences
     * \author Bastian Steder
     * \ingroup common
     */

common/include/pcl/correspondence.h

@@ -50,7 +50,7 @@
 namespace pcl
 {
   /** \brief Correspondence represents a match between two entities (e.g., points, descriptors, etc). This is 
-    * represesented via the indices of a \a source point and a \a target point, and the distance between them.
+    * represented via the indices of a \a source point and a \a target point, and the distance between them.
     *
     * \author Dirk Holz, Radu B. Rusu, Bastian Steder
     * \ingroup common
@@ -104,7 +104,7 @@ namespace pcl
     * By default (true), vectors are internally sorted before determining their difference.
     * If the order of correspondences in \a correspondences_after is not different (has not been changed)
     * from the order in \b correspondences_before this pre-processing step can be disabled
-    * in order to gain efficiency. In order to disable pre-sorting set \a presorting_requered to false.
+    * in order to gain efficiency. In order to disable pre-sorting set \a presorting_required to false.
     */
   void
   getRejectedQueryIndices (const pcl::Correspondences &correspondences_before,
@@ -134,7 +134,7 @@ namespace pcl
 
   /**
     * \brief Representation of a (possible) correspondence between two points (e.g. from feature matching),
-    *        that encode complete 6DOF transoformations.
+    *        that encode complete 6DOF transformations.
     * \ingroup common
     */
   struct PointCorrespondence6D : public PointCorrespondence3D

filters/include/pcl/filters/conditional_removal.h

@@ -141,7 +141,7 @@ namespace pcl
         * \param op the operator to use when making the comparison
         * \param compare_val the constant value to compare the field value too
         */
-      FieldComparison (std::string field_name, ComparisonOps::CompareOp op, double compare_val);
+      FieldComparison (const std::string &field_name, ComparisonOps::CompareOp op, double compare_val);
 
       /** \brief Copy constructor.
         * \param[in] src the field comparison object to copy into this
@@ -204,7 +204,7 @@ namespace pcl
         * \param op the operator to use when making the comparison
         * \param compare_val the constant value to compare the component value too
         */
-      PackedRGBComparison (std::string component_name, ComparisonOps::CompareOp op, double compare_val);
+      PackedRGBComparison (const std::string &component_name, ComparisonOps::CompareOp op, double compare_val);
 
       /** \brief Destructor. */
       virtual ~PackedRGBComparison () {}
@@ -251,7 +251,7 @@ namespace pcl
         * \param op the operator to use when making the comparison
         * \param compare_val the constant value to compare the component value too
         */
-      PackedHSIComparison (std::string component_name, ComparisonOps::CompareOp op, double compare_val);
+      PackedHSIComparison (const std::string &component_name, ComparisonOps::CompareOp op, double compare_val);
 
       /** \brief Destructor. */
       virtual ~PackedHSIComparison () {}

filters/include/pcl/filters/impl/conditional_removal.hpp

@@ -47,7 +47,7 @@
 //////////////////////////////////////////////////////////////////////////
 template <typename PointT>
 pcl::FieldComparison<PointT>::FieldComparison (
-    std::string field_name, ComparisonOps::CompareOp op, double compare_val) 
+    const std::string &field_name, ComparisonOps::CompareOp op, double compare_val) 
   : ComparisonBase<PointT> ()
   , compare_val_ (compare_val), point_data_ (NULL)
 {
@@ -106,7 +106,7 @@ pcl::FieldComparison<PointT>::evaluate (const PointT &point) const
 {
   if (!this->capable_)
   {
-    PCL_WARN ("[pcl::FieldComparison::evaluate] invalid compariosn!\n");
+    PCL_WARN ("[pcl::FieldComparison::evaluate] invalid comparison!\n");
     return (false);
   }
 
@@ -138,7 +138,7 @@ pcl::FieldComparison<PointT>::evaluate (const PointT &point) const
 //////////////////////////////////////////////////////////////////////////
 template <typename PointT>
 pcl::PackedRGBComparison<PointT>::PackedRGBComparison (
-    std::string component_name, ComparisonOps::CompareOp op, double compare_val) :
+    const std::string &component_name, ComparisonOps::CompareOp op, double compare_val) :
   component_name_ (component_name), component_offset_ (), compare_val_ (compare_val)
 {
   // get all the fields
@@ -230,7 +230,7 @@ pcl::PackedRGBComparison<PointT>::evaluate (const PointT &point) const
 //////////////////////////////////////////////////////////////////////////
 template <typename PointT>
 pcl::PackedHSIComparison<PointT>::PackedHSIComparison (
-    std::string component_name, ComparisonOps::CompareOp op, double compare_val) : 
+    const std::string &component_name, ComparisonOps::CompareOp op, double compare_val) : 
   component_name_ (component_name), component_id_ (), compare_val_ (compare_val), rgb_offset_ ()
 {
   // Get all the fields
@@ -287,7 +287,7 @@ pcl::PackedHSIComparison<PointT>::PackedHSIComparison (
   } 
   else 
   {
-    PCL_WARN ("[pcl::PackedRGBComparison::PackedRGBComparison] unrecognized component name!\n");
+    PCL_WARN ("[pcl::PackedHSIComparison::PackedHSIComparison] unrecognized component name!\n");
     capable_ = false;
     return;
   }
@@ -527,7 +527,7 @@ pcl::TfQuadraticXYZComparison<PointT>::evaluate (const PointT &point) const
     case pcl::ComparisonOps::EQ:
       return (myVal == 0);
     default:
-      PCL_WARN ("[pcl::transformableQuadricXYZComparison::evaluate] unrecognized op_!\n");
+      PCL_WARN ("[pcl::TfQuadraticXYZComparison::evaluate] unrecognized op_!\n");
       return (false);
   }
 }
@@ -595,7 +595,7 @@ pcl::PointDataAtOffset<PointT>::compare (const PointT& p, const double& val)
       return (pt_val > val) - (pt_val < val);
     }
     default : 
-      PCL_WARN ("[pcl::pcl::PointDataAtOffset::compare] unknown data_type!\n");
+      PCL_WARN ("[pcl::PointDataAtOffset::compare] unknown data_type!\n");
       return (0);
   }
 }

filters/include/pcl/filters/passthrough.h

@@ -252,7 +252,7 @@ namespace pcl
         * structure. By default, points are removed.
         *
         * \param[in] val set to true whether the filtered points should be kept and
-        * set to a given user value (default: NaN)
+        * set to a user given value (default: NaN)
         */
       inline void
       setKeepOrganized (bool val)
@@ -351,7 +351,7 @@ namespace pcl
 
     private:
       /** \brief Keep the structure of the data organized, by setting the
-        * filtered points to the a user given value (NaN by default). 
+        * filtered points to a user given value (NaN by default). 
         */
       bool keep_organized_;
 

surface/include/pcl/surface/gp3.h

@@ -60,8 +60,8 @@ namespace pcl
     * when taking into account the segment between the points S1 and S2
     * \param X 2D coordinate of the point
     * \param S1 2D coordinate of the segment's first point
-    * \param S2 2D coordinate of the segment's secont point
-    * \param R 2D coorddinate of the reference point (defaults to 0,0)
+    * \param S2 2D coordinate of the segment's second point
+    * \param R 2D coordinate of the reference point (defaults to 0,0)
     * \ingroup surface
     */
   inline bool 
@@ -416,7 +416,7 @@ namespace pcl
       /** \brief 2D coordinates of the second fringe neighbor of the next point **/
       Eigen::Vector2f uvn_next_sfn_;
 
-      /** \brief Temporary variable to store 3 coordiantes **/
+      /** \brief Temporary variable to store 3 coordinates **/
       Eigen::Vector3f tmp_;
 
       /** \brief The actual surface reconstruction method.