fixed typo in cmakelist and some formats

Signed-off-by: Xinyu Wang <xinyu.wang@tier4.jp>
autowarefoundation · Nov 28, 2022 · 14ef2cc · 14ef2cc
1 parent c020419
commit 14ef2cc
Show file tree

Hide file tree

Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/perception/lidar_centerpoint_tvm/CMakeLists.txt b/perception/lidar_centerpoint_tvm/CMakeLists.txt
@@ -12,16 +12,16 @@ set(${PROJECT_NAME}_BACKEND llvm CACHE STRING "${PROJECT_NAME} neural network ba
 set(MODEL_NAME_ENCODER centerpoint_encoder)
 
 # Get neural network.
-set(NN_DEPENDENCY_ENCOER "")
-get_neural_network(${MODEL_NAME_ENCODER} ${${PROJECT_NAME}_BACKEND} NN_DEPENDENCY_ENCOER)
+set(NN_DEPENDENCY_ENCODER "")
+get_neural_network(${MODEL_NAME_ENCODER} ${${PROJECT_NAME}_BACKEND} NN_DEPENDENCY_ENCODER)
 
 set(MODEL_NAME_BACKBONE centerpoint_backbone)
 
 # Get neural network.
 set(NN_DEPENDENCY_BACKBONE "")
 get_neural_network(${MODEL_NAME_BACKBONE} ${${PROJECT_NAME}_BACKEND} NN_DEPENDENCY_BACKBONE)
 
-if((NOT NN_DEPENDENCY_ENCOER STREQUAL "") AND (NOT NN_DEPENDENCY_BACKBONE STREQUAL ""))
+if((NOT NN_DEPENDENCY_ENCODER STREQUAL "") AND (NOT NN_DEPENDENCY_BACKBONE STREQUAL ""))
   ## centerpoint_tvm ##
   ament_auto_add_library(${PROJECT_NAME} SHARED
     data/models/${MODEL_NAME_ENCODER}/inference_engine_tvm_config.hpp
@@ -37,7 +37,7 @@ if((NOT NN_DEPENDENCY_ENCOER STREQUAL "") AND (NOT NN_DEPENDENCY_BACKBONE STREQU
     lib/postprocess/generate_detected_boxes.cpp
   )
 
-  add_dependencies(${PROJECT_NAME} ${NN_DEPENDENCY_ENCOER})
+  add_dependencies(${PROJECT_NAME} ${NN_DEPENDENCY_ENCODER})
   add_dependencies(${PROJECT_NAME} ${NN_DEPENDENCY_BACKBONE})
 
   target_compile_options(${PROJECT_NAME} PRIVATE "-Wno-sign-conversion" "-Wno-conversion")

diff --git a/perception/lidar_centerpoint_tvm/README.md b/perception/lidar_centerpoint_tvm/README.md
@@ -51,7 +51,7 @@ The `L-fit` method of fitting a bounding box to a cluster is used for that.
 
 ### Limitation and Known Issue
 
-Due to an accurary issue of `centerpoint` model, `vulkan` cannot be used at the moment.
+Due to an accuracy issue of `centerpoint` model, `vulkan` cannot be used at the moment.
 As for 'llvm' backend, real-time performance cannot be achieved.
 
 ## Reference

diff --git a/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/centerpoint_config.hpp b/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/centerpoint_config.hpp
@@ -78,7 +78,7 @@ class CenterPointConfig
   // input params
   std::size_t class_size_{3};
   const std::size_t point_dim_size_{3};  // x, y and z
-  std::size_t point_feature_size_{4};    // x, y, z and timelag
+  std::size_t point_feature_size_{4};    // x, y, z and time lag
   std::size_t max_point_in_voxel_size_{32};
   std::size_t max_voxel_size_{40000};
   float range_min_x_{-89.6f};