{Drivers,Perception}: fix typo

modules/drivers/lidar/hesai/proto/hesai.proto

@@ -5,7 +5,7 @@ package apollo.drivers.hesai;
 import "modules/common/proto/header.proto";
 
 enum Model {
-  UNKOWN = 0;
+  UNKNOWN = 0;
   HESAI40P = 1;
   HESAI64 = 2;
 }

modules/drivers/lidar/velodyne/proto/velodyne.proto

@@ -5,7 +5,7 @@ package apollo.drivers.velodyne;
 import "modules/common/proto/header.proto";
 
 enum Model {
-  UNKOWN = 0;
+  UNKNOWN = 0;
   HDL64E_S3S = 1;
   HDL64E_S3D = 2;
   HDL64E_S2 = 3;

modules/drivers/microphone/proto/microphone_config.proto

@@ -3,7 +3,7 @@ syntax = "proto2";
 package apollo.drivers.microphone.config;
 
 enum ChannelType {
-  UNKOWN = 0;
+  UNKNOWN = 0;
   ASR = 1;  // Automatic Speech Recognition
   RAW = 2;
   PLAYBACK = 3;
@@ -11,7 +11,7 @@ enum ChannelType {
 
 message MicrophoneConfig {
   enum MicrophoneModel {
-    UNKOWN = 0;
+    UNKNOWN = 0;
     RESPEAKER = 1;
   }
   optional MicrophoneModel microphone_model = 2;

modules/perception/fusion/common/dst_evidence_test.cc

@@ -14,12 +14,13 @@
  * limitations under the License.
  *****************************************************************************/
 
+#include "modules/perception/fusion/common/dst_evidence.h"
+
 #include <boost/format.hpp>
 
-#include "cyber/common/log.h"
 #include "gtest/gtest.h"
 
-#include "modules/perception/fusion/common/dst_evidence.h"
+#include "cyber/common/log.h"
 
 namespace apollo {
 namespace perception {
@@ -27,14 +28,15 @@ namespace fusion {
 // elementary hypotheses
 enum { F111 = (1 << 0), FA18 = (1 << 1), P3C = (1 << 2) };
 // compound hypotheses
-enum { FAST = (F111 | FA18), UNKOWN = (F111 | FA18 | P3C) };
+enum { FAST = (F111 | FA18), UNKNOWN = (F111 | FA18 | P3C) };
 static const std::vector<uint64_t> fod_subsets = {F111, FA18, P3C, FAST,
-                                                  UNKOWN};
-static const std::map<uint64_t, std::string> hypo_names = {{F111, "F111"},
-                                                           {FA18, "FA18"},
-                                                           {P3C, "P3C"},
-                                                           {FAST, "FAST"},
-                                                           {UNKOWN, "UNKOWN"}};
+                                                  UNKNOWN};
+static const std::map<uint64_t, std::string> hypo_names = {
+    {F111, "F111"},
+    {FA18, "FA18"},
+    {P3C, "P3C"},
+    {FAST, "FAST"},
+    {UNKNOWN, "UNKNOWN"}};
 
 class DSTEvidenceTest : public ::testing::Test {
  public:
@@ -42,7 +44,7 @@ class DSTEvidenceTest : public ::testing::Test {
       : sensor1_dst_("test"), sensor2_dst_("test"), fused_dst_("test") {
     DstManager *dst_manager = DstManager::Instance();
     std::vector<std::string> fod_subset_names = {"F111", "FA18", "P3C", "FAST",
-                                                 "UNKOWN"};
+                                                 "UNKNOWN"};
     dst_manager->AddApp("test", fod_subsets, fod_subset_names);
     vec_equal_ = [](const std::vector<double> &vec,
                     const std::vector<double> &gt) {
@@ -70,7 +72,7 @@ class DSTEvidenceTest : public ::testing::Test {
   }
   void assign_dst_test() {
     std::map<uint64_t, double> dst_map = {
-        {F111, 0.3}, {FA18, 0.18}, {FAST, 0.42}, {UNKOWN, 0.1}};
+        {F111, 0.3}, {FA18, 0.18}, {FAST, 0.42}, {UNKNOWN, 0.1}};
     std::vector<double> dst_vec_gt = {0.3, 0.18, 0.00, 0.42, 0.1};
     Dst dst("test");
     dst.SetBba(dst_map);

modules/perception/fusion/lib/data_fusion/existence_fusion/dst_existence_fusion/dst_existence_fusion.cc

@@ -103,7 +103,7 @@ void DstExistenceFusion::UpdateWithMeasurement(
   Dst existence_evidence(fused_existence_.Name());
   existence_evidence.SetBba(
       {{ExistenceDstMaps::EXIST, obj_exist_prob},
-       {ExistenceDstMaps::EXISTUNKOWN, 1 - obj_exist_prob}});
+       {ExistenceDstMaps::EXISTUNKNOWN, 1 - obj_exist_prob}});
   // TODO(all) hard code for fused exist bba
   const double exist_fused_w = 1.0;
   ADEBUG << " before update exist prob: " << GetExistenceProbability();
@@ -147,7 +147,7 @@ void DstExistenceFusion::UpdateWithoutMeasurement(const std::string &sensor_id,
     double obj_unexist_prob = unexist_factor * dist_decay;
     existence_evidence.SetBba(
         {{ExistenceDstMaps::NEXIST, obj_unexist_prob},
-         {ExistenceDstMaps::EXISTUNKOWN, 1 - obj_unexist_prob}});
+         {ExistenceDstMaps::EXISTUNKNOWN, 1 - obj_unexist_prob}});
     // TODO(all) hard code for fused exist bba
     const double unexist_fused_w = 1.0;
     double min_match_dist_score = min_match_dist;
@@ -283,7 +283,7 @@ void DstExistenceFusion::UpdateToicWithoutCameraMeasurement(
 
   Dst toic_evidence(fused_toic_.Name());
   toic_evidence.SetBba({{ToicDstMaps::NTOIC, 1 - dist_score},
-                        {ToicDstMaps::TOICUNKOWN, dist_score}});
+                        {ToicDstMaps::TOICUNKNOWN, dist_score}});
   // TODO(yuantingrong): hard code for fused toic bba
   const double toic_fused_w = 1.0;
   fused_toic_ = fused_toic_ + toic_evidence * in_view_ratio * toic_fused_w;
@@ -334,7 +334,7 @@ void DstExistenceFusion::UpdateToicWithCameraMeasurement(
 
   Dst toic_evidence(fused_toic_.Name());
   toic_evidence.SetBba({{ToicDstMaps::TOIC, association_prob},
-                        {ToicDstMaps::TOICUNKOWN, 1 - association_prob}});
+                        {ToicDstMaps::TOICUNKNOWN, 1 - association_prob}});
   // TODO(yuantingrong): hard code for fused toic bba
   const double toic_fused_w = 0.7;
   fused_toic_ = fused_toic_ + toic_evidence * toic_fused_w * in_view_ratio;

modules/perception/fusion/lib/data_fusion/existence_fusion/dst_existence_fusion/dst_existence_fusion.h

@@ -28,15 +28,15 @@ namespace fusion {
 
 struct ToicDstMaps {
   // for (N)TOIC: (not)target of interest in camera judgement
-  enum { TOIC = (1 << 0), NTOIC = (1 << 1), TOICUNKOWN = (TOIC | NTOIC) };
-  std::vector<uint64_t> fod_subsets_ = {TOIC, NTOIC, TOICUNKOWN};
-  std::vector<std::string> subset_names_ = {"TOIC", "NTOIC", "TOICUNKOWN"};
+  enum { TOIC = (1 << 0), NTOIC = (1 << 1), TOICUNKNOWN = (TOIC | NTOIC) };
+  std::vector<uint64_t> fod_subsets_ = {TOIC, NTOIC, TOICUNKNOWN};
+  std::vector<std::string> subset_names_ = {"TOIC", "NTOIC", "TOICUNKNOWN"};
 };
 
 struct ExistenceDstMaps {
-  enum { EXIST = (1 << 0), NEXIST = (1 << 1), EXISTUNKOWN = (EXIST | NEXIST) };
-  std::vector<uint64_t> fod_subsets_ = {EXIST, NEXIST, EXISTUNKOWN};
-  std::vector<std::string> subset_names_ = {"EXIST", "NEXIST", "EXISTUNKOWN"};
+  enum { EXIST = (1 << 0), NEXIST = (1 << 1), EXISTUNKNOWN = (EXIST | NEXIST) };
+  std::vector<uint64_t> fod_subsets_ = {EXIST, NEXIST, EXISTUNKNOWN};
+  std::vector<std::string> subset_names_ = {"EXIST", "NEXIST", "EXISTUNKNOWN"};
 };
 
 struct DstExistenceFusionOptions {