diff --git a/applications/src/main/java/boofcv/app/SceneReconstruction.java b/applications/src/main/java/boofcv/app/SceneReconstruction.java
index 67ec539f8f..4bf300f3f7 100644
--- a/applications/src/main/java/boofcv/app/SceneReconstruction.java
+++ b/applications/src/main/java/boofcv/app/SceneReconstruction.java
@@ -620,7 +620,7 @@ public void handleFused( String name, GrayF32 inverseDepth ) {
 	}
 
 	private void saveSparseCloudToDisk( File outputDirectory ) {
-		checkTrue(scene.isHomogenous());
+		checkTrue(scene.isHomogeneous());
 		List<Point3D_F64> cloudXyz = new ArrayList<>();
 		Point4D_F64 world = new Point4D_F64();
 
diff --git a/change.txt b/change.txt
index 43c4ec20ab..5312c65578 100644
--- a/change.txt
+++ b/change.txt
@@ -8,6 +8,12 @@ Version Meaning: <compatible>.<feature>.<bug fix>
 
 ---------------------
 Date    : 2024/XXX/XX
+Version : 1.1.6
+
+- Homogenous -> Homogeneous (Wide spread spelling error)
+
+---------------------
+Date    : 2024/Jun/27
 Version : 1.1.5
 
 - PerspectiveOps
diff --git a/examples/src/main/java/boofcv/examples/reconstruction/ExampleMultiViewSparseReconstruction.java b/examples/src/main/java/boofcv/examples/reconstruction/ExampleMultiViewSparseReconstruction.java
index 35b5850781..5dd93b7b5a 100644
--- a/examples/src/main/java/boofcv/examples/reconstruction/ExampleMultiViewSparseReconstruction.java
+++ b/examples/src/main/java/boofcv/examples/reconstruction/ExampleMultiViewSparseReconstruction.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -348,7 +348,7 @@ public void bundleAdjustmentRefine() {
 	 * scene.
 	 */
 	public void visualizeSparseCloud() {
-		checkTrue(scene.isHomogenous());
+		checkTrue(scene.isHomogeneous());
 		List<Point3D_F64> cloudXyz = new ArrayList<>();
 		Point4D_F64 world = new Point4D_F64();
 
@@ -365,7 +365,7 @@ public void visualizeSparseCloud() {
 				( viewIdx ) -> viewIdx + "", // String encodes the image's index
 				( pointIdx, r, g, b ) -> rgb.set(pointIdx, (r << 16) | (g << 8) | b)); // Assign the RGB color
 
-		// Convert the structure into regular 3D points from homogenous
+		// Convert the structure into regular 3D points from homogeneous
 		for (int i = 0; i < scene.points.size; i++) {
 			scene.points.get(i).get(world);
 			// If the point is at infinity it's not clear what to do. It would be best to skip it then the color
diff --git a/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustmentGraph.java b/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustmentGraph.java
index e44f32ab53..b3bb7312c4 100644
--- a/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustmentGraph.java
+++ b/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustmentGraph.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -55,8 +55,8 @@ public static void main( String[] args ) {
 		var view0_to_view1 = eulerXyz(-0.15, 0.05, 0, 0, 0, 0.05, null);
 
 		// Initialize data structures by telling it the number of features, cameras, views, motions
-		// Homogenous coordinates will be used since they can handle points at infinity
-		var structure = new SceneStructureMetric(/*homogenous*/ true);
+		// Homogeneous coordinates will be used since they can handle points at infinity
+		var structure = new SceneStructureMetric(/*homogeneous*/ true);
 		var observations = new SceneObservations();
 
 		// Index of the motion where the stereo baseline is stored
diff --git a/examples/src/main/java/boofcv/examples/sfm/ExampleTrifocalTensorUses.java b/examples/src/main/java/boofcv/examples/sfm/ExampleTrifocalTensorUses.java
index fae3fdb980..366d1baa9e 100644
--- a/examples/src/main/java/boofcv/examples/sfm/ExampleTrifocalTensorUses.java
+++ b/examples/src/main/java/boofcv/examples/sfm/ExampleTrifocalTensorUses.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -62,7 +62,7 @@ public static void main( String[] args ) {
 		// One thing that you can do with a trifocal tensor is transfer points from one view onto another
 		// Similar to what you would do with a homography.
 		AssociatedTriple match = inliers.get(4);
-		Point3D_F64 predicted3 = new Point3D_F64(); // pixel, but in homogenous coordinates
+		Point3D_F64 predicted3 = new Point3D_F64(); // pixel, but in homogeneous coordinates
 		MultiViewOps.transfer_1_to_3(tensor, match.p1, match.p2, predicted3);
 
 		System.out.printf("Predicted x3=(%.1f, %.1f)  actual=(%.1f, %.1f)\n",
diff --git a/main/boofcv-geo/src/main/java/boofcv/abst/geo/Estimate1ofPrNP.java b/main/boofcv-geo/src/main/java/boofcv/abst/geo/Estimate1ofPrNP.java
index ef34b7816b..13f2d0ff88 100644
--- a/main/boofcv-geo/src/main/java/boofcv/abst/geo/Estimate1ofPrNP.java
+++ b/main/boofcv-geo/src/main/java/boofcv/abst/geo/Estimate1ofPrNP.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -25,7 +25,7 @@
 /**
  * <p>
  * Interface for computing multiple solution to the Projective N-Point (PrNP) problem. Given a set of
- * observations from a single view and the known 3D homogenous location of the points being observed, estimate
+ * observations from a single view and the known 3D homogeneous location of the points being observed, estimate
  * the projective camera transform.
  * </p>
  * <p>
diff --git a/main/boofcv-geo/src/main/java/boofcv/abst/geo/EstimateNofPrNP.java b/main/boofcv-geo/src/main/java/boofcv/abst/geo/EstimateNofPrNP.java
index 85851eb0a8..01ec34d9d2 100644
--- a/main/boofcv-geo/src/main/java/boofcv/abst/geo/EstimateNofPrNP.java
+++ b/main/boofcv-geo/src/main/java/boofcv/abst/geo/EstimateNofPrNP.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -25,7 +25,7 @@
 /**
  * <p>
  * Interface for computing multiple solution to the Projective N-Point (PrNP) problem. Given a set of
- * observations from a single view and the known 3D homogenous location of the points being observed, estimate
+ * observations from a single view and the known 3D homogeneous location of the points being observed, estimate
  * the projective camera transform.
  * </p>
  * <p>
diff --git a/main/boofcv-geo/src/main/java/boofcv/abst/geo/RefineTriangulateMetricH.java b/main/boofcv-geo/src/main/java/boofcv/abst/geo/RefineTriangulateMetricH.java
index ed5eee23e5..7d9e8cf526 100644
--- a/main/boofcv-geo/src/main/java/boofcv/abst/geo/RefineTriangulateMetricH.java
+++ b/main/boofcv-geo/src/main/java/boofcv/abst/geo/RefineTriangulateMetricH.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -25,7 +25,7 @@
 import java.util.List;
 
 /**
- * Refines a triangulated point's (homogenous coordinate) location using non-linear optimization. A calibrated
+ * Refines a triangulated point's (homogeneous coordinate) location using non-linear optimization. A calibrated
  * camera is assumed. All observations are in normalized image coordinates.
  *
  * @author Peter Abeles
@@ -37,8 +37,8 @@ public interface RefineTriangulateMetricH {
 	 *
 	 * @param observations Observations of feature in N views. Normalized image coordinates.
 	 * @param listWorldToView Coordinate transforms for each view. World to View.
-	 * @param worldPt Initial estimate of point in world coordinates. Homogenous.
-	 * @param refinedPt The refined estimated point position. Homogenous.
+	 * @param worldPt Initial estimate of point in world coordinates. Homogeneous.
+	 * @param refinedPt The refined estimated point position. Homogeneous.
 	 * @return if successful or not
 	 */
 	boolean process( List<Point2D_F64> observations,
diff --git a/main/boofcv-geo/src/main/java/boofcv/abst/geo/Triangulate2PointingMetricH.java b/main/boofcv-geo/src/main/java/boofcv/abst/geo/Triangulate2PointingMetricH.java
index ec28a2984c..37901c9afc 100644
--- a/main/boofcv-geo/src/main/java/boofcv/abst/geo/Triangulate2PointingMetricH.java
+++ b/main/boofcv-geo/src/main/java/boofcv/abst/geo/Triangulate2PointingMetricH.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -23,7 +23,7 @@
 import georegression.struct.se.Se3_F64;
 
 /**
- * Triangulate the location of a homogenous 3D point from two views of a feature given a 3D pointing vector.
+ * Triangulate the location of a homogeneous 3D point from two views of a feature given a 3D pointing vector.
  *
  * @author Peter Abeles
  */
diff --git a/main/boofcv-geo/src/main/java/boofcv/abst/geo/Triangulate2ViewsMetricH.java b/main/boofcv-geo/src/main/java/boofcv/abst/geo/Triangulate2ViewsMetricH.java
index 1751361764..9a21abaf2c 100644
--- a/main/boofcv-geo/src/main/java/boofcv/abst/geo/Triangulate2ViewsMetricH.java
+++ b/main/boofcv-geo/src/main/java/boofcv/abst/geo/Triangulate2ViewsMetricH.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -23,7 +23,7 @@
 import georegression.struct.se.Se3_F64;
 
 /**
- * Triangulate the location of a homogenous 3D point from two views of a feature given a calibrated
+ * Triangulate the location of a homogeneous 3D point from two views of a feature given a calibrated
  * camera and known camera motion.
  *
  * @author Peter Abeles
diff --git a/main/boofcv-geo/src/main/java/boofcv/abst/geo/Triangulate2ViewsProjective.java b/main/boofcv-geo/src/main/java/boofcv/abst/geo/Triangulate2ViewsProjective.java
index f38a6b7325..e0f0886888 100644
--- a/main/boofcv-geo/src/main/java/boofcv/abst/geo/Triangulate2ViewsProjective.java
+++ b/main/boofcv-geo/src/main/java/boofcv/abst/geo/Triangulate2ViewsProjective.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -37,7 +37,7 @@ public interface Triangulate2ViewsProjective {
 	 * @param obsB View from position B in pixels
 	 * @param projectionA Camera matrix for view A. x = P*X
 	 * @param projectionB Camera matrix for view B. x = P*X
-	 * @param foundInA The found triangulated 3D point in A's reference frame. Homogenous coordinates.
+	 * @param foundInA The found triangulated 3D point in A's reference frame. Homogeneous coordinates.
 	 * @return true if successful, false otherwise.
 	 */
 	boolean triangulate( Point2D_F64 obsA, Point2D_F64 obsB,
diff --git a/main/boofcv-geo/src/main/java/boofcv/abst/geo/TriangulateNViewsMetricH.java b/main/boofcv-geo/src/main/java/boofcv/abst/geo/TriangulateNViewsMetricH.java
index 47d7c4ec1f..ee2d55f2a9 100644
--- a/main/boofcv-geo/src/main/java/boofcv/abst/geo/TriangulateNViewsMetricH.java
+++ b/main/boofcv-geo/src/main/java/boofcv/abst/geo/TriangulateNViewsMetricH.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2020, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -25,7 +25,7 @@
 import java.util.List;
 
 /**
- * Triangulate the location of a 3D point in homogenous coordinates from N views a calibrated camera and known poses.
+ * Triangulate the location of a 3D point in homogeneous coordinates from N views a calibrated camera and known poses.
  *
  * @author Peter Abeles
  */
diff --git a/main/boofcv-geo/src/main/java/boofcv/abst/geo/TriangulateNViewsProjective.java b/main/boofcv-geo/src/main/java/boofcv/abst/geo/TriangulateNViewsProjective.java
index 8123b90c56..fcce059417 100644
--- a/main/boofcv-geo/src/main/java/boofcv/abst/geo/TriangulateNViewsProjective.java
+++ b/main/boofcv-geo/src/main/java/boofcv/abst/geo/TriangulateNViewsProjective.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -37,7 +37,7 @@ public interface TriangulateNViewsProjective {
 	 *
 	 * @param observations (Input) Observations of the 3D point in pixel coordinates from different camera views
 	 * @param cameraMatrices (Input) Camera projection matrices. x = A*X
-	 * @param location (Output) Homogenous coordinate of 3D feature in world coordinates.
+	 * @param location (Output) Homogeneous coordinate of 3D feature in world coordinates.
 	 * @return true if successful, false otherwise.
 	 */
 	boolean triangulate( List<Point2D_F64> observations, List<DMatrixRMaj> cameraMatrices, Point4D_F64 location );
diff --git a/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/MetricBundleAdjustmentUtils.java b/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/MetricBundleAdjustmentUtils.java
index 2d7c559a44..69c7351b0b 100644
--- a/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/MetricBundleAdjustmentUtils.java
+++ b/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/MetricBundleAdjustmentUtils.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -56,9 +56,9 @@ public class MetricBundleAdjustmentUtils implements VerbosePrint {
 
 	@Nullable PrintStream verbose;
 
-	public MetricBundleAdjustmentUtils( @Nullable ConfigTriangulation triangulation, boolean homogenous ) {
+	public MetricBundleAdjustmentUtils( @Nullable ConfigTriangulation triangulation, boolean homogeneous ) {
 		triangulator = FactoryMultiView.triangulateNViewMetricH(triangulation);
-		structure = new SceneStructureMetric(homogenous);
+		structure = new SceneStructureMetric(homogeneous);
 
 		var configSba = new ConfigBundleAdjustment();
 		configSba.optimizer.type = ConfigNonLinearLeastSquares.Type.LEVENBERG_MARQUARDT;
diff --git a/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/PruneStructureFromSceneProjective.java b/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/PruneStructureFromSceneProjective.java
index 45503397a2..2518f27f35 100644
--- a/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/PruneStructureFromSceneProjective.java
+++ b/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/PruneStructureFromSceneProjective.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -72,7 +72,7 @@ public void pruneObservationsByErrorRank( double inlierFraction ) {
 				v.getPixel(indexInView, observation);
 
 				// Get feature location in world and predict the pixel observation
-				if (structure.homogenous) {
+				if (structure.homogeneous) {
 					f.get(X4);
 					PerspectiveOps.renderPixel(view.worldToView, X4, predicted);
 				} else {
diff --git a/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/ScaleSceneStructure.java b/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/ScaleSceneStructure.java
index 20a89b1b91..1dabc9c8d0 100644
--- a/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/ScaleSceneStructure.java
+++ b/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/ScaleSceneStructure.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -31,10 +31,10 @@
 
 /**
  * Normalizes variables in the scene to improve optimization performance. Different normalization is applied
- * depending on the points being homogenous or not, metric or projective.
+ * depending on the points being homogeneous or not, metric or projective.
  *
  * <p>
- * Homogenous:<br>
+ * Homogeneous:<br>
  * Each point is normalized such that the F-norm is equal to 1. Same goes for translation if metric.
  * </p>
  * <p>
@@ -92,8 +92,8 @@ public ScaleSceneStructure() {
 	public void applyScale( SceneStructureMetric structure,
 							SceneObservations observations ) {
 
-		if (structure.homogenous) {
-			applyScaleToPointsHomogenous(structure);
+		if (structure.homogeneous) {
+			applyScaleToPointsHomogeneous(structure);
 		} else {
 			computePointStatistics(structure.points);
 			applyScaleToPoints3D(structure);
@@ -111,8 +111,8 @@ public void applyScale( SceneStructureMetric structure,
 	 */
 	public void applyScale( SceneStructureProjective structure,
 							SceneObservations observations ) {
-		if (structure.homogenous) {
-			applyScaleToPointsHomogenous(structure);
+		if (structure.homogeneous) {
+			applyScaleToPointsHomogeneous(structure);
 		} else {
 			computePointStatistics(structure.points);
 			applyScaleToPoints3D(structure);
@@ -278,7 +278,7 @@ private void applyScaleTranslation3D( SceneStructureProjective structure ) {
 	public void undoScale( SceneStructureMetric structure,
 						   SceneObservations observations ) {
 
-		if (structure.homogenous)
+		if (structure.homogeneous)
 			return;
 
 		double scale = desiredDistancePoint/medianDistancePoint;
@@ -312,7 +312,7 @@ public void undoScale( SceneStructureMetric structure,
 	public void undoScale( SceneStructureProjective structure,
 						   SceneObservations observations ) {
 
-		if (!structure.homogenous) {
+		if (!structure.homogeneous) {
 
 			double scale = desiredDistancePoint/medianDistancePoint;
 
@@ -388,7 +388,7 @@ void applyScaleToPoints3D( SceneStructureCommon structure ) {
 		}
 	}
 
-	void applyScaleToPointsHomogenous( SceneStructureCommon structure ) {
+	void applyScaleToPointsHomogeneous( SceneStructureCommon structure ) {
 
 		Point4D_F64 p = new Point4D_F64();
 		for (int i = 0; i < structure.points.size; i++) {
diff --git a/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/SceneStructure.java b/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/SceneStructure.java
index c6874e6d47..30f787da4a 100644
--- a/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/SceneStructure.java
+++ b/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/SceneStructure.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2018, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -25,11 +25,11 @@
  */
 public interface SceneStructure {
 	/**
-	 * If true then homogenous coordinates are being used.
+	 * If true then homogeneous coordinates are being used.
 	 *
-	 * @return true if homogenous coordinates
+	 * @return true if homogeneous coordinates
 	 */
-	boolean isHomogenous();
+	boolean isHomogeneous();
 
 	int getParameterCount();
 }
diff --git a/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/SceneStructureCommon.java b/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/SceneStructureCommon.java
index 99bf1f5745..e82538ae09 100644
--- a/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/SceneStructureCommon.java
+++ b/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/SceneStructureCommon.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -44,24 +44,24 @@
 public abstract class SceneStructureCommon implements SceneStructure {
 	public final DogArray<Camera> cameras = new DogArray<>(Camera::new, Camera::reset);
 	public DogArray<Point> points;
-	/** True if homogenous coordinates are being used */
-	protected boolean homogenous;
+	/** True if homogeneous coordinates are being used */
+	protected boolean homogeneous;
 	/** number of elements in a point. Will be 3 or 4 */
 	protected @Getter int pointSize;
 
-	protected SceneStructureCommon( boolean homogenous ) {
-		setHomogenous(homogenous);
+	protected SceneStructureCommon( boolean homogeneous ) {
+		setHomogeneous(homogeneous);
 	}
 
 	/**
-	 * Used to change if homogenous coordinates are used or not. All past points are discarded when this function is
+	 * Used to change if homogeneous coordinates are used or not. All past points are discarded when this function is
 	 * called
 	 *
-	 * @param homogenous true for homogenous coordinates or false for 3D cartesian
+	 * @param homogeneous true for homogeneous coordinates or false for 3D cartesian
 	 */
-	public void setHomogenous( boolean homogenous ) {
-		this.homogenous = homogenous;
-		pointSize = homogenous ? 4 : 3;
+	public void setHomogeneous( boolean homogeneous ) {
+		this.homogeneous = homogeneous;
+		pointSize = homogeneous ? 4 : 3;
 		points = new DogArray<>(() -> new Point(pointSize), Point::reset);
 	}
 
@@ -78,7 +78,7 @@ public void setPoint( int which, double x, double y, double z ) {
 	}
 
 	/**
-	 * Specifies the location of a point as a 3D homogenous coordinate
+	 * Specifies the location of a point as a 3D homogeneous coordinate
 	 *
 	 * @param which Which point is being specified
 	 * @param x coordinate along x-axis
@@ -290,7 +290,7 @@ public double distanceSq( Point3D_F64 p ) {
 		}
 
 		/**
-		 * Normalize a point in homogenous coordinate so that it's f-norm is 1
+		 * Normalize a point in homogeneous coordinate so that it's f-norm is 1
 		 */
 		public void normalizeH() {
 			double n = 0;
@@ -325,8 +325,8 @@ public double distance( Point p ) {
 	}
 
 	@Override
-	public boolean isHomogenous() {
-		return homogenous;
+	public boolean isHomogeneous() {
+		return homogeneous;
 	}
 
 	public int getObservationCount() {
diff --git a/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/SceneStructureMetric.java b/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/SceneStructureMetric.java
index 75cbe96b35..89cbd3e747 100644
--- a/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/SceneStructureMetric.java
+++ b/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/SceneStructureMetric.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -60,10 +60,10 @@ public class SceneStructureMetric extends SceneStructureCommon {
 	/**
 	 * Configure bundle adjustment
 	 *
-	 * @param homogenous if true then homogeneous coordinates are used
+	 * @param homogeneous if true then homogeneous coordinates are used
 	 */
-	public SceneStructureMetric( boolean homogenous ) {
-		super(homogenous);
+	public SceneStructureMetric( boolean homogeneous ) {
+		super(homogeneous);
 	}
 
 	/**
@@ -371,13 +371,13 @@ public boolean projectToPixel( int pointIdx, int viewIdx,
 		View view = views.get(viewIdx);
 		getWorldToView(view, world_to_view, tmpSE);
 
-		// extract the coordinate for 3D and homogenous case
+		// extract the coordinate for 3D and homogeneous case
 		Point p = points.get(pointIdx);
 		double x, y, z, w;
 		x = p.coordinate[0];
 		y = p.coordinate[1];
 		z = p.coordinate[2];
-		w = homogenous ? p.coordinate[3] : 1.0;
+		w = homogeneous ? p.coordinate[3] : 1.0;
 
 		// Project the pixel while being careful of points at infinity
 		BundleAdjustmentCamera camera = Objects.requireNonNull(getViewCamera(view).model);
@@ -428,7 +428,7 @@ public Rigid getRigid(int rigidIdx ) {
 	 * @return true if identical to within specified float tolerance and false if not
 	 */
 	public boolean isIdentical( SceneStructureMetric m, double tol ) {
-		if (isHomogenous() != m.isHomogenous())
+		if (isHomogeneous() != m.isHomogeneous())
 			return false;
 		if (views.size != m.views.size)
 			return false;
diff --git a/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/SceneStructureProjective.java b/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/SceneStructureProjective.java
index f31017e9bd..579a6d0d16 100644
--- a/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/SceneStructureProjective.java
+++ b/main/boofcv-geo/src/main/java/boofcv/abst/geo/bundle/SceneStructureProjective.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -25,7 +25,7 @@
 /**
  * Specifies a scene in an arbitrary projective geometry for Bundle Adjustment. Each view
  * is specified using a 3x4 projective camera matrix. Points for the scene can be 3D or 4D
- * homogenous coordinates.
+ * homogeneous coordinates.
  *
  * @author Peter Abeles
  */
@@ -35,10 +35,10 @@ public class SceneStructureProjective extends SceneStructureCommon {
 	/**
 	 * Configure bundle adjustment
 	 *
-	 * @param homogenous if true then homogeneous coordinates are used
+	 * @param homogeneous if true then homogeneous coordinates are used
 	 */
-	public SceneStructureProjective( boolean homogenous ) {
-		super(homogenous);
+	public SceneStructureProjective( boolean homogeneous ) {
+		super(homogeneous);
 	}
 
 	/**
diff --git a/main/boofcv-geo/src/main/java/boofcv/abst/geo/triangulate/TriangulateRefineProjectiveLS.java b/main/boofcv-geo/src/main/java/boofcv/abst/geo/triangulate/TriangulateRefineProjectiveLS.java
index 3245835de2..58f2abc01d 100644
--- a/main/boofcv-geo/src/main/java/boofcv/abst/geo/triangulate/TriangulateRefineProjectiveLS.java
+++ b/main/boofcv-geo/src/main/java/boofcv/abst/geo/triangulate/TriangulateRefineProjectiveLS.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -32,7 +32,7 @@
 import java.util.List;
 
 /**
- * Nonlinear least-squares triangulation for projective geometry in homogenous coordinates.
+ * Nonlinear least-squares triangulation for projective geometry in homogeneous coordinates.
  *
  * @author Peter Abeles
  */
diff --git a/main/boofcv-geo/src/main/java/boofcv/abst/geo/triangulate/WrapNViewsTriangulateMetricDLT.java b/main/boofcv-geo/src/main/java/boofcv/abst/geo/triangulate/WrapNViewsTriangulateMetricDLT.java
index c0a362b898..3adb6afc7f 100644
--- a/main/boofcv-geo/src/main/java/boofcv/abst/geo/triangulate/WrapNViewsTriangulateMetricDLT.java
+++ b/main/boofcv-geo/src/main/java/boofcv/abst/geo/triangulate/WrapNViewsTriangulateMetricDLT.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -50,7 +50,7 @@ public boolean triangulate( List<Point2D_F64> observations, List<Se3_F64> listWo
 			return false;
 		}
 
-		PerspectiveOps.homogenousTo3dPositiveZ(pointH, 1e20, UtilEjml.EPS, location);
+		PerspectiveOps.homogeneousTo3dPositiveZ(pointH, 1e20, UtilEjml.EPS, location);
 		return true;
 	}
 }
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/distort/NarrowToWidePtoP_F64.java b/main/boofcv-geo/src/main/java/boofcv/alg/distort/NarrowToWidePtoP_F64.java
index b1165a3a46..d2c818472f 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/distort/NarrowToWidePtoP_F64.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/distort/NarrowToWidePtoP_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -76,7 +76,7 @@ public void setRotationWideToNarrow( DMatrixRMaj R ) {
 	public void compute( double x, double y, Point2D_F64 out ) {
 		narrowToNorm.compute(x, y, norm);
 
-		// Convert from 2D homogenous to 3D
+		// Convert from 2D homogeneous to 3D
 		unit.setTo(norm.x, norm.y, 1.0);
 
 		// Rotate then make it a unit vector
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/DecomposeEssential.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/DecomposeEssential.java
index eccef49c54..c0507bc265 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/DecomposeEssential.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/DecomposeEssential.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -66,7 +66,7 @@ public class DecomposeEssential {
 	DMatrixRMaj W = new DMatrixRMaj(3, 3);
 
 	/**
-	 * Essential matrix can be viewed as a homogenous quantity (scale invariant) or not. If Viewed as the former then
+	 * Essential matrix can be viewed as a homogeneous quantity (scale invariant) or not. If Viewed as the former then
 	 * this is the length of the translation vector
 	 */
 	@Getter double translationLength;
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/MultiViewOps.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/MultiViewOps.java
index 58300ffa8f..cdb98559a5 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/MultiViewOps.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/MultiViewOps.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -849,7 +849,7 @@ public static void extractEpipoles( DMatrixRMaj F, Point3D_F64 e1, Point3D_F64 e
 	/**
 	 * <p>
 	 * Given a fundamental matrix a pair of camera matrices P and P1' are extracted. The camera matrices
-	 * are 3 by 4 and used to project a 3D homogenous point onto the image plane. These camera matrices will only
+	 * are 3 by 4 and used to project a 3D homogeneous point onto the image plane. These camera matrices will only
 	 * be known up to a projective transform, thus there are multiple solutions, The canonical camera
 	 * matrix is defined as: <br>
 	 * <pre>
@@ -1249,7 +1249,7 @@ public static void errorsHomographySymm( List<AssociatedPair> observations,
 	 * @param x1 (Input) point (pixel) in first view
 	 * @param l2 (Input) line in second view
 	 * @param T (Input) Trifocal tensor
-	 * @param x3 (Output) Induced point (pixel) in third view. Homogenous coordinates.
+	 * @param x3 (Output) Induced point (pixel) in third view. Homogeneous coordinates.
 	 * @return induced point.
 	 */
 	public static Point3D_F64 transfer_1_to_3( TrifocalTensor T, Point2D_F64 x1, Vector3D_F64 l2,
@@ -1296,7 +1296,7 @@ public static Point3D_F64 transfer_1_to_3( TrifocalTensor T, Point2D_F64 x1, Vec
 	 * @param x1 (Input) point (pixel) in first view
 	 * @param x2 (Input) point (pixel) in second view
 	 * @param T (Input) Trifocal tensor
-	 * @param x3 (Output) Induced point (pixel) in third view. Homogenous coordinates.
+	 * @param x3 (Output) Induced point (pixel) in third view. Homogeneous coordinates.
 	 * @return induced point.
 	 */
 	public static Point3D_F64 transfer_1_to_3( TrifocalTensor T, Point2D_F64 x1, Point2D_F64 x2,
@@ -1318,7 +1318,7 @@ public static Point3D_F64 transfer_1_to_3( TrifocalTensor T, Point2D_F64 x1, Poi
 	 * @param x1 (Input) point (pixel) in first view
 	 * @param l3 (Input) line in third view
 	 * @param T (Input) Trifocal tensor
-	 * @param x2 (Output) Induced point (pixel) in second view. Homogenous coordinates.
+	 * @param x2 (Output) Induced point (pixel) in second view. Homogeneous coordinates.
 	 * @return induced point.
 	 */
 	public static Point3D_F64 transfer_1_to_2( TrifocalTensor T, Point2D_F64 x1, Vector3D_F64 l3,
@@ -1349,7 +1349,7 @@ public static Point3D_F64 transfer_1_to_2( TrifocalTensor T, Point2D_F64 x1, Vec
 	 * @param x1 (Input) point (pixel) in first view
 	 * @param x3 (Input) point (pixel) in third view
 	 * @param T (Input) Trifocal tensor
-	 * @param x2 (Output) Induced point (pixel) in second view. Homogenous coordinates.
+	 * @param x2 (Output) Induced point (pixel) in second view. Homogeneous coordinates.
 	 * @return induced point.
 	 */
 	public static Point3D_F64 transfer_1_to_2( TrifocalTensor T, Point2D_F64 x1, Point2D_F64 x3,
@@ -1716,7 +1716,7 @@ public static void triangulatePoints( SceneStructureMetric structure, SceneObser
 		var normObs = new DogArray<>(Point2D_F64::new);
 		normObs.resize(3);
 
-		final boolean homogenous = structure.isHomogenous();
+		final boolean homogeneous = structure.isHomogeneous();
 		var X = new Point4D_F64();
 
 		var worldToViews = new ArrayList<Se3_F64>();
@@ -1741,7 +1741,7 @@ public static void triangulatePoints( SceneStructureMetric structure, SceneObser
 				// this should work unless the input is bad
 				throw new RuntimeException("Triangulation failed. Bad input?");
 			}
-			if (homogenous)
+			if (homogeneous)
 				sp.set(X.x, X.y, X.z, X.w);
 			else
 				sp.set(X.x/X.w, X.y/X.w, X.z/X.w);
@@ -1929,7 +1929,7 @@ public static void scenePointsToPixels( SceneStructureMetric scene, int viewIdx,
 			double x = point.coordinate[0];
 			double y = point.coordinate[1];
 			double z = point.coordinate[2];
-			double w = scene.isHomogenous() ? point.coordinate[3] : 1.0;
+			double w = scene.isHomogeneous() ? point.coordinate[3] : 1.0;
 
 			// Project the pixel while being careful for points at infinity
 			SePointOps_F64.transformV(world_to_view, x, y, z, w, camPoint);
@@ -1940,10 +1940,10 @@ public static void scenePointsToPixels( SceneStructureMetric scene, int viewIdx,
 
 	/**
 	 * Converts the points in the scene into a 3D point cloud. A lambda is used pass in the results. This function
-	 * will work if it's homogenous or 3D coordinates.
+	 * will work if it's homogeneous or 3D coordinates.
 	 *
 	 * @param scene (Input) The scene
-	 * @param tol (Input) Only used if the scene is in homogenous coordinates.
+	 * @param tol (Input) Only used if the scene is in homogeneous coordinates.
 	 * Tolerance for points being at infinity. Smaller values means more tolerant. Try 1e-8.
 	 * @param func (Output) Results are passed in to this function with their index and 3D point.
 	 */
@@ -1952,7 +1952,7 @@ public static void sceneToCloud3( SceneStructureMetric scene, double tol,
 
 		Point3D_F64 out = new Point3D_F64();
 
-		final boolean homogenous = scene.isHomogenous();
+		final boolean homogeneous = scene.isHomogeneous();
 
 		for (int pointIdx = 0; pointIdx < scene.points.size; pointIdx++) {
 			SceneStructureCommon.Point point = scene.points.get(pointIdx);
@@ -1960,7 +1960,7 @@ public static void sceneToCloud3( SceneStructureMetric scene, double tol,
 			double y = point.coordinate[1];
 			double z = point.coordinate[2];
 
-			if (homogenous) {
+			if (homogeneous) {
 				double r = Math.sqrt(x*x + y*y + z*z);
 				double w = point.coordinate[3];
 
@@ -1980,8 +1980,8 @@ public static void sceneToCloud3( SceneStructureMetric scene, double tol,
 	}
 
 	/**
-	 * Converts the points in the scene into a homogenous point cloud. Results are passed in to the lambda.
-	 * It will work with a scene in homogenous or 3D coordinates.
+	 * Converts the points in the scene into a homogeneous point cloud. Results are passed in to the lambda.
+	 * It will work with a scene in homogeneous or 3D coordinates.
 	 *
 	 * @param scene (Input) The scene
 	 * @param func (Output) Results are passed in to this function with their index and 3D point.
@@ -1990,14 +1990,14 @@ public static void sceneToCloudH( SceneStructureMetric scene, BoofLambdas.Proces
 
 		Point4D_F64 out = new Point4D_F64();
 
-		final boolean homogenous = scene.isHomogenous();
+		final boolean homogeneous = scene.isHomogeneous();
 
 		for (int pointIdx = 0; pointIdx < scene.points.size; pointIdx++) {
 			SceneStructureCommon.Point point = scene.points.get(pointIdx);
 			double x = point.coordinate[0];
 			double y = point.coordinate[1];
 			double z = point.coordinate[2];
-			double w = homogenous ? point.coordinate[3] : 1.0;
+			double w = homogeneous ? point.coordinate[3] : 1.0;
 			out.setTo(x, y, z, w);
 			func.process(pointIdx, out);
 		}
@@ -2051,7 +2051,7 @@ public static boolean homographyToFundamental( DMatrixRMaj H21, List<AssociatedP
 			epipolarLines.add(UtilLine2D_F64.convert(p.p2, h2, (LineGeneral2D_F64)null));
 		}
 
-		// Epipole in the second view, homogenous coordinates
+		// Epipole in the second view, homogeneous coordinates
 		Point3D_F64 epipole = Intersection2D_F64.intersection(epipolarLines, null);
 
 		// F=cross_matrix(e)*H
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/PerspectiveOps.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/PerspectiveOps.java
index 8a6d597090..d709af1209 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/PerspectiveOps.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/PerspectiveOps.java
@@ -1020,18 +1020,18 @@ public static double invariantAffine( Point2D_F64 p1, Point2D_F64 p2, Point2D_F6
 	}
 
 	/**
-	 * Converts a 3D homogenous coordinate into a non-homogenous coordinate. Things get tricky when a point is at or
+	 * Converts a 3D homogeneous coordinate into a non-homogeneous coordinate. Things get tricky when a point is at or
 	 * "close to" infinity. This situation is handled by throwing it at some distant location.
 	 * This is a reasonable approach when you can't just skip the point. It's assumed that points at
 	 * infinity have a positive Z value.
 	 *
-	 * @param p4 (Input) Homogenous coordinate.
+	 * @param p4 (Input) Homogeneous coordinate.
 	 * @param farAway (Input) How far away points at infinity should be put. Application dependent. Try 1e9
 	 * @param tol (Input) Tolerance for defining a point at infinity. If p4 has a norm of 1 then 1e-7 is
 	 * probably reasonable.
 	 * @param p3 (output) Cartesian coordinate.
 	 */
-	public static void homogenousTo3dPositiveZ( Point4D_F64 p4, double farAway, double tol, Point3D_F64 p3 ) {
+	public static void homogeneousTo3dPositiveZ( Point4D_F64 p4, double farAway, double tol, Point3D_F64 p3 ) {
 		double norm = p4.norm();
 		double w = p4.w;
 		if (Math.abs(w) <= tol*norm) {
@@ -1047,8 +1047,8 @@ public static void homogenousTo3dPositiveZ( Point4D_F64 p4, double farAway, doub
 	}
 
 	/**
-	 * Returns a distance measure between two 3D homogenous points. There is no well defined way to measure distance
-	 * in homogenous space.
+	 * Returns a distance measure between two 3D homogeneous points. There is no well defined way to measure distance
+	 * in homogeneous space.
 	 *
 	 * <p>distance = norm( a/norm(a) - b/norm(b) )</p>
 	 *
@@ -1061,11 +1061,11 @@ public static double distance( Point4D_F64 a, Point4D_F64 b ) {
 	}
 
 	/**
-	 * Returns the Euclidean distance between a 3D point a point homogenous coordinates. If the homogenous point
+	 * Returns the Euclidean distance between a 3D point a point homogeneous coordinates. If the homogeneous point
 	 * is at infinity, within tolererance, then {@link Double#POSITIVE_INFINITY} is returned.
 	 *
 	 * @param a (Input) 3D point
-	 * @param b (Input) Homogenous point
+	 * @param b (Input) Homogeneous point
 	 * @param tol (Input) Tolerance for point being at infinity. Closer to zero means more strict. Try 1e-8
 	 * @return Euclidean distance
 	 */
@@ -1074,7 +1074,7 @@ public static double distance3DvsH( Point3D_F64 a, Point4D_F64 b, double tol ) {
 	}
 
 	/**
-	 * <p>Checks to see if a point in homogenous coordinates is behind the camera, including z=0.
+	 * <p>Checks to see if a point in homogeneous coordinates is behind the camera, including z=0.
 	 * This is made more complex as the possibility that it's at infinity needs to be explicitly checked
 	 * and handled.</p>
 	 *
@@ -1124,7 +1124,7 @@ public static DMatrixRMaj invertCalibrationMatrix( DMatrixRMaj K, @Nullable DMat
 	}
 
 	/**
-	 * Applies a rotation to a homogenous 3D point
+	 * Applies a rotation to a homogeneous 3D point
 	 *
 	 * @param R rotation matrix.
 	 * @param src (Input) point
@@ -1142,7 +1142,7 @@ public static void rotateH( DMatrixRMaj R, Point4D_F64 src, Point4D_F64 dst ) {
 	}
 
 	/**
-	 * Applies a rotation in reverse to a homogenous 3D point
+	 * Applies a rotation in reverse to a homogeneous 3D point
 	 *
 	 * @param R rotation matrix.
 	 * @param src (Input) point
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/PositiveDepthConstraintCheckH.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/PositiveDepthConstraintCheckH.java
index 8cc27736f1..991093bbf2 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/PositiveDepthConstraintCheckH.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/PositiveDepthConstraintCheckH.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -35,7 +35,7 @@
  * if you use this class.
  * </p>
  *
- * <p>Triangulation is done in homogenous coordinates so that points at infinity can be handled</p>
+ * <p>Triangulation is done in homogeneous coordinates so that points at infinity can be handled</p>
  *
  * <p>
  * COORDINATE SYSTEM: Right handed coordinate system with +z is pointing along the camera's optical axis,
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/PositiveDepthConstraintCheckHPointing.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/PositiveDepthConstraintCheckHPointing.java
index afe78a2957..9a569f321c 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/PositiveDepthConstraintCheckHPointing.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/PositiveDepthConstraintCheckHPointing.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -29,7 +29,7 @@
 /**
  * <p> Checks positive depth constraint given observations as pointing vectors. </p>
  *
- * <p> Triangulation is done in homogenous coordinates so that points at infinity can be handled </p>
+ * <p> Triangulation is done in homogeneous coordinates so that points at infinity can be handled </p>
  *
  * <p> COORDINATE SYSTEM: Right handed coordinate system with +z is pointing along the camera's optical axis </p>
  *
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/WorldToCameraToPixel.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/WorldToCameraToPixel.java
index 19c7459a75..51add901d3 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/WorldToCameraToPixel.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/WorldToCameraToPixel.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -115,7 +115,7 @@ public boolean transform( Point3D_F64 worldPt, Point2D_F64 pixelPt, Point2D_F64
 	 * Computes the observed location of the specified point in world coordinates in the camera pixel. If
 	 * the object can't be viewed because it is behind the camera then false is returned.
 	 *
-	 * @param worldPt Location of point in world frame. Homogenous coordinates.
+	 * @param worldPt Location of point in world frame. Homogeneous coordinates.
 	 * @param pixelPt Pixel observation of point.
 	 * @return True if visible (+z) or false if not visible (-z)
 	 */
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/BundleAdjustmentMetricResidualFunction.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/BundleAdjustmentMetricResidualFunction.java
index c898cc0c86..d94eca6611 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/BundleAdjustmentMetricResidualFunction.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/BundleAdjustmentMetricResidualFunction.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -79,7 +79,7 @@ public class BundleAdjustmentMetricResidualFunction
 	// Look up workspace by view ID when relative view
 	private final Map<SceneStructureMetric.View, Se3_F64> mapWorldToView = new HashMap<>();
 
-	// Storage for 3D points in Cartesian and homogenous coordinates
+	// Storage for 3D points in Cartesian and homogeneous coordinates
 	private final Point3D_F64 p3 = new Point3D_F64();
 	private final Point4D_F64 p4 = new Point4D_F64();
 
@@ -125,7 +125,7 @@ public void process( double[] input, double[] output ) {
 		codec.decode(input, structure);
 
 		// Project the general scene now
-		if (structure.isHomogenous())
+		if (structure.isHomogeneous())
 			project4(output);
 		else
 			project3(output);
@@ -136,7 +136,7 @@ public void process( double[] input, double[] output ) {
 	 * compute the residuals and not optimizing
 	 */
 	public void process( double[] output ) {
-		if (structure.isHomogenous())
+		if (structure.isHomogeneous())
 			project4(output);
 		else
 			project3(output);
@@ -211,7 +211,7 @@ private void project3( double[] output ) {
 	}
 
 	/**
-	 * projection from homogenous coordinates
+	 * projection from homogeneous coordinates
 	 */
 	private void project4( double[] output ) {
 		int observationIndex = 0;
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/BundleAdjustmentMetricSchurJacobian.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/BundleAdjustmentMetricSchurJacobian.java
index 03f431e323..1b40142d51 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/BundleAdjustmentMetricSchurJacobian.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/BundleAdjustmentMetricSchurJacobian.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -62,7 +62,7 @@ public abstract class BundleAdjustmentMetricSchurJacobian<M extends DMatrix>
 	// total number of parameters being optimized
 	private int numParameters;
 
-	// length of a 3D point. 3 = regular, 4 = homogenous
+	// length of a 3D point. 3 = regular, 4 = homogeneous
 	private int lengthPoint;
 
 	/** Specifies method to parameterize rotations, i.e. Rodrigues to SO3 */
@@ -129,7 +129,7 @@ public void configure( SceneStructureMetric structure, SceneObservations observa
 		this.structure = structure;
 		this.observations = observations;
 
-		if (!structure.isHomogenous()) {
+		if (!structure.isHomogeneous()) {
 			lengthPoint = 3;
 		} else {
 			lengthPoint = 4;
@@ -261,7 +261,7 @@ private int computeGeneralPoints( DMatrix leftPoint, DMatrix rightView,
 			int featureIndex = obsView.point.get(i);
 			int columnOfPointInJac = featureIndex*lengthPoint;
 
-			if (structure.isHomogenous()) {
+			if (structure.isHomogeneous()) {
 				worldPt4.x = input[columnOfPointInJac];
 				worldPt4.y = input[columnOfPointInJac + 1];
 				worldPt4.z = input[columnOfPointInJac + 2];
@@ -295,7 +295,7 @@ private int computeGeneralPoints( DMatrix leftPoint, DMatrix rightView,
 						false, null, null);
 			}
 			//============ Partial of worldPt
-			if (structure.isHomogenous()) {
+			if (structure.isHomogeneous()) {
 				partialPointH(leftPoint, rightView, strView, columnOfPointInJac);
 			} else {
 				partialPoint3(leftPoint, rightView, strView, columnOfPointInJac);
@@ -387,7 +387,7 @@ private int computeRigidPoints( DMatrix leftPoint, DMatrix rightView,
 			SceneStructureMetric.Rigid rigid = structure.rigids.get(rigidIndex);
 			int pointIndex = featureIndex - rigid.indexFirst; // index of point in rigid body
 
-			if (structure.isHomogenous()) {
+			if (structure.isHomogeneous()) {
 				rigid.getPoint(pointIndex, rigidPt4);
 				SePointOps_F64.transform(rigid.object_to_world, rigidPt4, worldPt4);
 				SePointOps_F64.transformV(world_to_view, worldPt4, cameraPt);
@@ -417,7 +417,7 @@ private int computeRigidPoints( DMatrix leftPoint, DMatrix rightView,
 			}
 
 			//============ Partial of world to view
-			if (structure.isHomogenous()) {
+			if (structure.isHomogeneous()) {
 				partialViewSE3(rightView, view, worldPt4.x, worldPt4.y, worldPt4.z, worldPt4.w);
 			} else {
 				partialViewSE3(rightView, view, worldPt3.x, worldPt3.y, worldPt3.z, 1);
@@ -430,7 +430,7 @@ private int computeRigidPoints( DMatrix leftPoint, DMatrix rightView,
 			// partial R1 is R2*(@R1*X)
 			// partial T1 is R2*(@T1)
 			if (!rigid.known) {
-				if (structure.isHomogenous()) {
+				if (structure.isHomogeneous()) {
 					partialRigidSE3(leftPoint, rigidIndex, rigidPt4.x, rigidPt4.y, rigidPt4.z, rigidPt4.w);
 				} else {
 					partialRigidSE3(leftPoint, rigidIndex, rigidPt3.x, rigidPt3.y, rigidPt3.z, 1);
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/BundleAdjustmentProjectiveResidualFunction.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/BundleAdjustmentProjectiveResidualFunction.java
index c4198d0f42..2e9bb2016a 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/BundleAdjustmentProjectiveResidualFunction.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/BundleAdjustmentProjectiveResidualFunction.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -65,7 +65,7 @@ public class BundleAdjustmentProjectiveResidualFunction
 	private final Point3D_F64 p3 = new Point3D_F64();
 	private final Point4D_F64 p4 = new Point4D_F64();
 
-	// Pixel in homogenous image coordinate
+	// Pixel in homogeneous image coordinate
 	private final Point3D_F64 pix = new Point3D_F64();
 
 	/**
@@ -97,7 +97,7 @@ public void process( double[] input, double[] output ) {
 		// write the current parameters into the scene's structure
 		codec.decode(input, structure);
 
-		if (structure.isHomogenous())
+		if (structure.isHomogeneous())
 			project4(output);
 		else
 			project3(output);
@@ -121,7 +121,7 @@ private void project3( double[] output ) {
 				// Apply projective camera to point in world coordinates
 				PerspectiveOps.renderPixel(view.worldToView, p3, pix);
 
-				// Apply camera model to pixel in homogenous coordinates
+				// Apply camera model to pixel in homogeneous coordinates
 				camera.model.project(pix.x, pix.y, pix.z, predictedPixel);
 
 				// Save results
@@ -134,7 +134,7 @@ private void project3( double[] output ) {
 	}
 
 	/**
-	 * projection from homogenous coordinates
+	 * projection from homogeneous coordinates
 	 */
 	private void project4( double[] output ) {
 		int observationIndex = 0;
@@ -151,7 +151,7 @@ private void project4( double[] output ) {
 				// Apply projective camera to point in world coordinates
 				PerspectiveOps.renderPixel(view.worldToView, p4, pix);
 
-				// Apply camera model to pixel in homogenous coordinates
+				// Apply camera model to pixel in homogeneous coordinates
 				camera.model.project(pix.x, pix.y, pix.z, predictedPixel);
 
 				// Save results
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/BundleAdjustmentProjectiveSchurJacobian.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/BundleAdjustmentProjectiveSchurJacobian.java
index 9b48c99291..bcc26f9539 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/BundleAdjustmentProjectiveSchurJacobian.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/BundleAdjustmentProjectiveSchurJacobian.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -50,13 +50,13 @@ public abstract class BundleAdjustmentProjectiveSchurJacobian<M extends DMatrix>
 	// total number of parameters being optimized
 	private int numParameters;
 
-	// length of a 3D point. 3 = regular, 4 = homogenous
+	// length of a 3D point. 3 = regular, 4 = homogeneous
 	private int lengthPoint;
 
 	// feature location in world coordinates
 	private final Point4D_F64 worldPt = new Point4D_F64();
 
-	// Observed pixel in homogenous coordinates. X'=P*X
+	// Observed pixel in homogeneous coordinates. X'=P*X
 	private final Point3D_F64 pixelH = new Point3D_F64();
 
 	// index in parameters of the first point
@@ -89,7 +89,7 @@ public void configure( SceneStructureProjective structure, SceneObservations obs
 		this.structure = structure;
 		this.observations = observations;
 
-		if (!structure.isHomogenous()) {
+		if (!structure.isHomogeneous()) {
 			worldPt.w = 1;
 			lengthPoint = 3;
 		} else {
@@ -179,7 +179,7 @@ public void processInternal( double[] input, DMatrix leftPoint, DMatrix rightVie
 				worldPt.x = input[columnOfPointInJac];
 				worldPt.y = input[columnOfPointInJac + 1];
 				worldPt.z = input[columnOfPointInJac + 2];
-				if (structure.isHomogenous()) {
+				if (structure.isHomogeneous()) {
 					worldPt.w = input[columnOfPointInJac + 3];
 				}
 
@@ -187,14 +187,14 @@ public void processInternal( double[] input, DMatrix leftPoint, DMatrix rightVie
 				PerspectiveOps.renderPixel(worldToView, worldPt, pixelH);
 
 				if (view.known) {
-					if (structure.isHomogenous())
+					if (structure.isHomogeneous())
 						partialCameraMatrixH(worldPt.x, worldPt.y, worldPt.z, worldPt.w,
 								worldToView, worldGradX, worldGradY, worldGradZ, null, null, null);
 					else
 						partialCameraMatrix(worldPt.x, worldPt.y, worldPt.z,
 								worldToView, worldGradX, worldGradY, worldGradZ, null, null, null);
 				} else {
-					if (structure.isHomogenous())
+					if (structure.isHomogeneous())
 						partialCameraMatrixH(worldPt.x, worldPt.y, worldPt.z, worldPt.w,
 								worldToView, worldGradX, worldGradY, worldGradZ, camGradX, camGradY, camGradZ);
 					else
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/CodecSceneStructureMetric.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/CodecSceneStructureMetric.java
index 00da1d57b6..2f8bb684e2 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/CodecSceneStructureMetric.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/CodecSceneStructureMetric.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -60,7 +60,7 @@ public void decode( double[] input, SceneStructureMetric structure ) {
 			p.coordinate[0] = input[index++];
 			p.coordinate[1] = input[index++];
 			p.coordinate[2] = input[index++];
-			if (structure.isHomogenous())
+			if (structure.isHomogeneous())
 				p.coordinate[3] = input[index++];
 		}
 
@@ -110,7 +110,7 @@ public void encode( SceneStructureMetric structure, double[] output ) {
 			output[index++] = p.coordinate[0];
 			output[index++] = p.coordinate[1];
 			output[index++] = p.coordinate[2];
-			if (structure.isHomogenous())
+			if (structure.isHomogeneous())
 				output[index++] = p.coordinate[3];
 
 			// Make sure nothing blew up
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/CodecSceneStructureProjective.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/CodecSceneStructureProjective.java
index 5ddb7fdd29..50ec909b4f 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/CodecSceneStructureProjective.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/bundle/CodecSceneStructureProjective.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2020, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -42,7 +42,7 @@ public void decode( double[] input, SceneStructureProjective structure ) {
 			p.coordinate[0] = input[index++];
 			p.coordinate[1] = input[index++];
 			p.coordinate[2] = input[index++];
-			if (structure.isHomogenous())
+			if (structure.isHomogeneous())
 				p.coordinate[3] = input[index++];
 		}
 
@@ -74,7 +74,7 @@ public void encode( SceneStructureProjective structure, double[] output ) {
 			output[index++] = p.coordinate[0];
 			output[index++] = p.coordinate[1];
 			output[index++] = p.coordinate[2];
-			if (structure.isHomogenous())
+			if (structure.isHomogeneous())
 				output[index++] = p.coordinate[3];
 		}
 
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/f/FundamentalToProjective.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/f/FundamentalToProjective.java
index 1912c3f751..655950f14e 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/f/FundamentalToProjective.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/f/FundamentalToProjective.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -77,7 +77,7 @@ public void twoView( DMatrixRMaj F, DMatrixRMaj cameraMatrix ) {
 	/**
 	 * <p>
 	 * Given a fundamental matrix a pair of camera matrices P and P1' are extracted. The camera matrices
-	 * are 3 by 4 and used to project a 3D homogenous point onto the image plane. These camera matrices will only
+	 * are 3 by 4 and used to project a 3D homogeneous point onto the image plane. These camera matrices will only
 	 * be known up to a projective transform, thus there are multiple solutions, The canonical camera
 	 * matrix is defined as: <br>
 	 * <pre>
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/h/HomographyDirectLinearTransform.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/h/HomographyDirectLinearTransform.java
index 6a42756475..c3dac637b1 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/h/HomographyDirectLinearTransform.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/h/HomographyDirectLinearTransform.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -150,7 +150,7 @@ public boolean process( @Nullable List<AssociatedPair> points2D,
 		int numRows = computeTotalRows(num2D, num3D, numConic);
 
 		// only 2D points need to be normalzied because of the implicit z=1
-		// 3D points are homogenous or lines and the vector can be normalized to 1
+		// 3D points are homogeneous or lines and the vector can be normalized to 1
 		// same goes for the conic equation
 		shouldNormalize = false;//normalize && points2D != null;
 
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/impl/ImplPerspectiveOps_F64.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/impl/ImplPerspectiveOps_F64.java
index aa3fb16ec3..de96149a0f 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/impl/ImplPerspectiveOps_F64.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/impl/ImplPerspectiveOps_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -325,14 +325,14 @@ public static void renderPixel( DMatrixRMaj cameraMatrix, Point4D_F64 X, Point2D
 	}
 
 	public static double distance3DvsH( Point3D_F64 a, Point4D_F64 b, double tol ) {
-		// convert the homogenous point into a 3D point.
+		// convert the homogeneous point into a 3D point.
 		double x = b.x;
 		double y = b.y;
 		double z = b.z;
 
 		double r = Math.sqrt(x*x + y*y + z*z);
 
-		// See if the homogenous point is at infinity, within tolerance
+		// See if the homogeneous point is at infinity, within tolerance
 		if (r*tol > Math.abs(b.w)) {
 			return Double.POSITIVE_INFINITY;
 		}
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/pose/PRnPDirectLinearTransform.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/pose/PRnPDirectLinearTransform.java
index 53cc5bd84e..29f23d0c06 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/pose/PRnPDirectLinearTransform.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/pose/PRnPDirectLinearTransform.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -31,7 +31,7 @@
 /**
  * Estimates a projective camera given N points, i.e. Projective N Point (PRnP). This is the projective equivalent
  * of the perspective N Point (PnP) problem. Each point consists of a 2D pixel observations and 3D
- * homogenous coordinate. Pixels are normalized to have zero means and standard deviation of 1. 3D points are
+ * homogeneous coordinate. Pixels are normalized to have zero means and standard deviation of 1. 3D points are
  * scaled to have a f-norm of 1. See [1] for details. Each point provides 2 linearly independent equations, requiring
  * a minimum of 6 points. More points are allowed.
  *
@@ -49,7 +49,7 @@ public class PRnPDirectLinearTransform {
 	public SolveNullSpace<DMatrixRMaj> solverNullspace = new SolveNullSpaceSvd_DDRM();
 	private DMatrixRMaj ns = new DMatrixRMaj(12, 1);
 
-	// if true it will normalize input 3D homogenous to have f-norm of 1
+	// if true it will normalize input 3D homogeneous to have f-norm of 1
 	private boolean normalize3D = true;
 
 	private DMatrixRMaj A = new DMatrixRMaj(12, 12);
@@ -57,7 +57,7 @@ public class PRnPDirectLinearTransform {
 	/**
 	 * Computes projective camera matrix.
 	 *
-	 * @param worldPts points in homogenous 3D coordinates in world frame. Might be modified.
+	 * @param worldPts points in homogeneous 3D coordinates in world frame. Might be modified.
 	 * @param observed pixel coordinates of points. not modified
 	 * @param solutionModel (Output) 3x4 camera matrix
 	 * @return true if succesfull
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/pose/PoseFromPairLinear6.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/pose/PoseFromPairLinear6.java
index 941a8cde4b..41a43a6de1 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/pose/PoseFromPairLinear6.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/pose/PoseFromPairLinear6.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -99,16 +99,16 @@ public boolean process( List<AssociatedPair> observations, List<Point3D_F64> loc
 	 * must be known. Feature locations are in calibrated image coordinates.
 	 *
 	 * @param observations List of pixel or normalized image coordinate observations
-	 * @param locations List of object locations in homogenous coordinates. One for each observation pair.
+	 * @param locations List of object locations in homogeneous coordinates. One for each observation pair.
 	 */
-	public boolean processHomogenous( List<AssociatedPair> observations, List<Point4D_F64> locations ) {
+	public boolean processHomogeneous( List<AssociatedPair> observations, List<Point4D_F64> locations ) {
 		if (observations.size() != locations.size())
 			throw new IllegalArgumentException("Number of observations and locations must match.");
 
 		if (observations.size() < 6)
 			throw new IllegalArgumentException("At least (if not more than) six points are required.");
 
-		setupHomogenousA(observations, locations);
+		setupHomogeneousA(observations, locations);
 
 		if (!solveNullspace.process(A, 1, P))
 			return false;
@@ -174,7 +174,7 @@ private void setupA( List<AssociatedPair> observations, List<Point3D_F64> locati
 		}
 	}
 
-	private void setupHomogenousA( List<AssociatedPair> observations, List<Point4D_F64> locations ) {
+	private void setupHomogeneousA( List<AssociatedPair> observations, List<Point4D_F64> locations ) {
 		A.reshape(2*observations.size(), 12, false);
 
 		for (int i = 0; i < observations.size(); i++) {
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/rectify/DisparityParameters.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/rectify/DisparityParameters.java
index 452ab5a766..4ce9b0ae66 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/rectify/DisparityParameters.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/rectify/DisparityParameters.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -88,13 +88,13 @@ public boolean pixelToLeft3D( double pixelX, double pixelY, double value, Point3
 	}
 
 	/**
-	 * Give a pixel coordinate and raw disparity value, compute its homogenous location. This can handle
+	 * Give a pixel coordinate and raw disparity value, compute its homogeneous location. This can handle
 	 * points at infinity.
 	 *
 	 * @param pixelX Pixel coordinate x-axis
 	 * @param pixelY Pixel coordinate y-axis
 	 * @param value Raw disparity value. DO NOT ADD MIN.
-	 * @param location (Output) Computed homogenous coordinate
+	 * @param location (Output) Computed homogeneous coordinate
 	 * @return true if successful
 	 */
 	public boolean pixelToLeft4D( double pixelX, double pixelY, double value, Point4D_F64 location ) {
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/robust/DistanceSe3SymmetricSq.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/robust/DistanceSe3SymmetricSq.java
index 37d8ccba4f..582f85aa5c 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/robust/DistanceSe3SymmetricSq.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/robust/DistanceSe3SymmetricSq.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -33,7 +33,7 @@
 /**
  * <p>
  * Computes the error for a given camera motion from two calibrated views. First a point
- * is triangulated in homogenous coordinates from the two views and the motion. Then the difference between
+ * is triangulated in homogeneous coordinates from the two views and the motion. Then the difference between
  * the observed and projected point is found at each view. Error is normalized pixel difference
  * squared.
  * </p>
@@ -42,7 +42,7 @@
  * &Delta;x<sub>2</sub><sup>2</sup> + &Delta;y<sub>2</sub><sup>2</sup>
  * </p>
  *
- * <p>Homogenous coordinates are used so that pure/nearly pure rotation can be handled. Points will be at infinity.</p>
+ * <p>Homogeneous coordinates are used so that pure/nearly pure rotation can be handled. Points will be at infinity.</p>
  *
  * <p>
  * Error units can be in either pixels<sup>2</sup> or unit less (normalized pixel coordinates). To compute
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/robust/DistanceTrifocalTransferSq.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/robust/DistanceTrifocalTransferSq.java
index 27803e7e76..0cc83bab0f 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/robust/DistanceTrifocalTransferSq.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/robust/DistanceTrifocalTransferSq.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2020, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -35,7 +35,7 @@
 public class DistanceTrifocalTransferSq implements DistanceFromModel<TrifocalTensor, AssociatedTriple> {
 	TrifocalTransfer transfer = new TrifocalTransfer();
 
-	// transferred point in homogenous coordinates
+	// transferred point in homogeneous coordinates
 	Point3D_F64 c = new Point3D_F64();
 
 	@Override
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/structure/ProjectiveStructureByFactorization.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/structure/ProjectiveStructureByFactorization.java
index 6673841dc0..7a9166ab7a 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/structure/ProjectiveStructureByFactorization.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/structure/ProjectiveStructureByFactorization.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -42,7 +42,7 @@
  * [                                 ...               ]  = [ ... ]
  * [ &lambda;[N,1]*x[1,1] , &lambda;[N,2]*x[1,2] , ... , &lambda;[N,M]*x[N,M] ]  = [ P[M] ]
  * </pre>
- * where &lambda; is the depth, x is homogenous pixel coordinate, P is 3x4 projective, X is 3D feature location in
+ * where &lambda; is the depth, x is homogeneous pixel coordinate, P is 3x4 projective, X is 3D feature location in
  * world coordinate system.
  *
  * Procedure:
@@ -232,7 +232,7 @@ public void getCameraMatrix( int view, DMatrixRMaj cameraMatrix ) {
 	 * Returns location of 3D feature for a view
 	 *
 	 * @param feature Index of feature to retrieve
-	 * @param out (Output) Storage for 3D feature. homogenous coordinates
+	 * @param out (Output) Storage for 3D feature. homogeneous coordinates
 	 */
 	public void getFeature3D( int feature, Point4D_F64 out ) {
 		out.x = X.get(0, feature);
@@ -252,7 +252,7 @@ public void assignValuesToA( DMatrixRMaj A ) {
 			for (int pointIdx = 0; pointIdx < depths.numCols; pointIdx++) {
 				double depth = depths.get(viewIdx, pointIdx);
 
-				// pixels are in homogenous coordinates A(:,i) = depth*(x,y,1)
+				// pixels are in homogeneous coordinates A(:,i) = depth*(x,y,1)
 				A.set(rowA, pointIdx, depth*pixels.get(rowPixels, pointIdx)/pixelScale);
 				A.set(rowA + 1, pointIdx, depth*pixels.get(rowPixels + 1, pointIdx)/pixelScale);
 				A.set(rowA + 2, pointIdx, depth);
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/structure/ProjectiveStructureFromHomographies.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/structure/ProjectiveStructureFromHomographies.java
index 9463e88467..d8c4a16fa6 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/structure/ProjectiveStructureFromHomographies.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/structure/ProjectiveStructureFromHomographies.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -228,7 +228,7 @@ void filterPointsOnPlaneAtInfinity( List<DMatrixRMaj> homographies_view1_to_view
 					throw new IllegalArgumentException("Feature index outside of bounds. Must be from 0 to " + (totalFeatures - 1));
 
 				GeometryMath_F64.mult(H, p.p, tmp);
-				// Homogenous coordinates are scale invariant. A scale
+				// Homogeneous coordinates are scale invariant. A scale
 				// needs to be picked for consistency. I picked the largest x or y value
 				double m = Math.max(Math.abs(tmp.x), Math.abs(tmp.y));
 				if (m == 0) m = 1;
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/triangulate/ResidualsTriangulateProjective.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/triangulate/ResidualsTriangulateProjective.java
index ca7f768fdc..a3a96b5f09 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/triangulate/ResidualsTriangulateProjective.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/triangulate/ResidualsTriangulateProjective.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -28,7 +28,7 @@
 
 /**
  * Residuals for a projective triangulation where the difference between predicted and observed pixels
- * are minimized. The optimized point is in homogenous coordinates.
+ * are minimized. The optimized point is in homogeneous coordinates.
  *
  * @author Peter Abeles
  */
@@ -40,7 +40,7 @@ public class ResidualsTriangulateProjective implements FunctionNtoM {
 	// Known camera motion
 	private List<DMatrixRMaj> cameraMatrices;
 
-	// 3D point in homogenous coordinates
+	// 3D point in homogeneous coordinates
 	private final Point4D_F64 point = new Point4D_F64();
 	private final Point2D_F64 predicted = new Point2D_F64();
 
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/triangulate/Triangulate2ViewsGeometricMetric.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/triangulate/Triangulate2ViewsGeometricMetric.java
index 20e39ef7ea..ad395b9be7 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/triangulate/Triangulate2ViewsGeometricMetric.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/triangulate/Triangulate2ViewsGeometricMetric.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -71,14 +71,14 @@ public boolean triangulate( Point2D_F64 a, Point2D_F64 b, Se3_F64 a_to_b, Point3
 
 	/**
 	 * <p>
-	 * Same as {@link #triangulate(Point2D_F64, Point2D_F64, Se3_F64, Point3D_F64)} but in homogenous coordinates
+	 * Same as {@link #triangulate(Point2D_F64, Point2D_F64, Se3_F64, Point3D_F64)} but in homogeneous coordinates
 	 * and can handle points at infinity.
 	 * </p>
 	 *
 	 * @param a Observation from camera view 'a' in normalized coordinates. Not modified.
 	 * @param b Observation from camera view 'b' in normalized coordinates. Not modified.
 	 * @param a_to_b Transformation from camera view 'a' to 'b'  Not modified.
-	 * @param foundInA (Output) Found 3D position of the point in reference frame 'a'. Homogenous coordinates. Modified.
+	 * @param foundInA (Output) Found 3D position of the point in reference frame 'a'. Homogeneous coordinates. Modified.
 	 */
 	public void triangulate( Point2D_F64 a, Point2D_F64 b, Se3_F64 a_to_b, Point4D_F64 foundInA ) {
 		// b_to_a = R'*(X_b-T)=X_a
@@ -101,13 +101,13 @@ public void triangulate( Point2D_F64 a, Point2D_F64 b, Se3_F64 a_to_b, Point4D_F
 	/**
 	 * <p>
 	 * Triangulates two observations that are 3D pointing vectors and saves the results ad a 3D point in
-	 * homogenous coordinates.
+	 * homogeneous coordinates.
 	 * </p>
 	 *
 	 * @param a Observation from camera view 'a' as a 3D pointing vector. Not modified.
 	 * @param b Observation from camera view 'b' as a 3D pointing vector. Not modified.
 	 * @param a_to_b Transformation from camera view 'a' to 'b'  Not modified.
-	 * @param foundInA (Output) Found 3D position of the point in reference frame 'a'. Homogenous coordinates. Modified.
+	 * @param foundInA (Output) Found 3D position of the point in reference frame 'a'. Homogeneous coordinates. Modified.
 	 */
 	public void triangulate( Point3D_F64 a, Point3D_F64 b, Se3_F64 a_to_b, Point4D_F64 foundInA ) {
 		// b_to_a = R'*(X_b-T)=X_a
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/triangulate/TriangulateMetricLinearDLT.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/triangulate/TriangulateMetricLinearDLT.java
index 10e17de316..841779eeb8 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/triangulate/TriangulateMetricLinearDLT.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/triangulate/TriangulateMetricLinearDLT.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -69,7 +69,7 @@ public class TriangulateMetricLinearDLT {
 	 *
 	 * @param observations Observation in each view in normalized coordinates. Not modified.
 	 * @param worldToView Transformations from world to the view. Not modified.
-	 * @param found (Output) 3D point in homogenous coordinates in world reference frame. Modified.
+	 * @param found (Output) 3D point in homogeneous coordinates in world reference frame. Modified.
 	 */
 	public GeometricResult triangulate( List<Point2D_F64> observations,
 										List<Se3_F64> worldToView,
@@ -137,7 +137,7 @@ public GeometricResult triangulate( Point2D_F64 a, Point2D_F64 b,
 	 *
 	 * @param observations Observation in each view in 3d pointing vectors. Not modified.
 	 * @param worldToView Transformations from world to the view. Not modified.
-	 * @param found (Output) 3D point in homogenous coordinates in world reference frame. Modified.
+	 * @param found (Output) 3D point in homogeneous coordinates in world reference frame. Modified.
 	 */
 	public GeometricResult triangulateP( List<Point3D_F64> observations,
 										 List<Se3_F64> worldToView,
diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/geo/triangulate/TriangulateProjectiveLinearDLT.java b/main/boofcv-geo/src/main/java/boofcv/alg/geo/triangulate/TriangulateProjectiveLinearDLT.java
index cea9127ff4..68693b6f40 100644
--- a/main/boofcv-geo/src/main/java/boofcv/alg/geo/triangulate/TriangulateProjectiveLinearDLT.java
+++ b/main/boofcv-geo/src/main/java/boofcv/alg/geo/triangulate/TriangulateProjectiveLinearDLT.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -67,7 +67,7 @@ public class TriangulateProjectiveLinearDLT {
 	 *
 	 * @param observations Observation in each view in pixel coordinates. Not modified.
 	 * @param cameraMatrices Camera projection matrices, e.g. x = P*X. 3 by 4 projectives. Not modified.
-	 * @param found Output, found 3D point in homogenous coordinates. Modified.
+	 * @param found Output, found 3D point in homogeneous coordinates. Modified.
 	 * @return true if triangulation was successful or false if it failed
 	 */
 	public GeometricResult triangulate( List<Point2D_F64> observations,
diff --git a/main/boofcv-geo/src/main/java/boofcv/factory/geo/FactoryMultiView.java b/main/boofcv-geo/src/main/java/boofcv/factory/geo/FactoryMultiView.java
index b6dd970ed3..511c98ccd6 100644
--- a/main/boofcv-geo/src/main/java/boofcv/factory/geo/FactoryMultiView.java
+++ b/main/boofcv-geo/src/main/java/boofcv/factory/geo/FactoryMultiView.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -607,7 +607,7 @@ public static TriangulateNViewsMetric triangulateNViewMetric( @Nullable ConfigTr
 	}
 
 	/**
-	 * Triangulate a homogenous point from N metric views given observations in normalized image coordinates.
+	 * Triangulate a homogeneous point from N metric views given observations in normalized image coordinates.
 	 *
 	 * @return N-view triangulation algorithm
 	 * @see TriangulateMetricLinearDLT
@@ -630,7 +630,7 @@ public static TriangulateNViewsMetricH triangulateNViewMetricH( @Nullable Config
 	}
 
 	/**
-	 * Triangulate a homogenous point from N projective views given observations in pixel coordinates.
+	 * Triangulate a homogeneous point from N projective views given observations in pixel coordinates.
 	 *
 	 * @return N-view triangulation algorithm
 	 * @see TriangulateProjectiveLinearDLT
@@ -671,7 +671,7 @@ public static Triangulate2PointingMetricH triangulate2PointingMetricH( @Nullable
 	}
 
 	/**
-	 * Triangulate a point in homogenous coordinates from N views given observations as pointing vectors.
+	 * Triangulate a point in homogeneous coordinates from N views given observations as pointing vectors.
 	 *
 	 * @return N-view triangulation algorithm
 	 * @see TriangulateMetricLinearDLT
diff --git a/main/boofcv-geo/src/main/java/boofcv/struct/geo/AssociatedPair3D.java b/main/boofcv-geo/src/main/java/boofcv/struct/geo/AssociatedPair3D.java
index 028866a3e4..d52c6ee0e2 100644
--- a/main/boofcv-geo/src/main/java/boofcv/struct/geo/AssociatedPair3D.java
+++ b/main/boofcv-geo/src/main/java/boofcv/struct/geo/AssociatedPair3D.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -23,7 +23,7 @@
 
 /**
  * <p>
- * The observed location of a feature in two camera views. Typically a point in homogenous coordinates a line.
+ * The observed location of a feature in two camera views. Typically a point in homogeneous coordinates a line.
  * </p>
  *
  * @author Peter Abeles
diff --git a/main/boofcv-geo/src/main/java/boofcv/struct/geo/Point2D4D.java b/main/boofcv-geo/src/main/java/boofcv/struct/geo/Point2D4D.java
index e3fe8bda32..427e46ba9d 100644
--- a/main/boofcv-geo/src/main/java/boofcv/struct/geo/Point2D4D.java
+++ b/main/boofcv-geo/src/main/java/boofcv/struct/geo/Point2D4D.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -24,7 +24,7 @@
 import lombok.Setter;
 
 /**
- * Observed point feature location on the image plane and its 3D homogenous position.
+ * Observed point feature location on the image plane and its 3D homogeneous position.
  *
  * @author Peter Abeles
  */
@@ -34,7 +34,7 @@ public class Point2D4D {
 	 */
 	@Getter @Setter public Point2D_F64 observation;
 	/**
-	 * 3D location of the feature in homogenous world coordinates
+	 * 3D location of the feature in homogeneous world coordinates
 	 */
 	@Getter @Setter public Point4D_F64 location;
 
diff --git a/main/boofcv-geo/src/test/java/boofcv/abst/geo/bundle/GenericBundleAdjustmentMetricChecks.java b/main/boofcv-geo/src/test/java/boofcv/abst/geo/bundle/GenericBundleAdjustmentMetricChecks.java
index 45995ea61d..17d3c90b79 100644
--- a/main/boofcv-geo/src/test/java/boofcv/abst/geo/bundle/GenericBundleAdjustmentMetricChecks.java
+++ b/main/boofcv-geo/src/test/java/boofcv/abst/geo/bundle/GenericBundleAdjustmentMetricChecks.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -180,7 +180,7 @@ public static void checkReprojectionError( SceneStructureMetric structure, Scene
 		PointIndex2D_F64 o = new PointIndex2D_F64();
 		Point2D_F64 predicted = new Point2D_F64();
 
-		if (structure.homogenous) {
+		if (structure.homogeneous) {
 			Point4D_F64 p4 = new Point4D_F64();
 			Point3D_F64 p3 = new Point3D_F64();
 			for (int viewIndex = 0; viewIndex < observations.views.size; viewIndex++) {
@@ -222,9 +222,9 @@ public static void checkReprojectionError( SceneStructureMetric structure, Scene
 	public static void assertEquals( SceneStructureMetric a, SceneStructureMetric b,
 									 double tolCamera, double tolDistance, double tolRotation ) {
 
-		Assertions.assertEquals(a.homogenous, b.homogenous);
+		Assertions.assertEquals(a.homogeneous, b.homogeneous);
 
-		if (a.homogenous) {
+		if (a.homogeneous) {
 //			Point4D_F64 pa = new Point4D_F64();
 //			Point4D_F64 pb = new Point4D_F64();
 
diff --git a/main/boofcv-geo/src/test/java/boofcv/abst/geo/bundle/GenericBundleAdjustmentProjectiveChecks.java b/main/boofcv-geo/src/test/java/boofcv/abst/geo/bundle/GenericBundleAdjustmentProjectiveChecks.java
index bb9211cc34..73f22c24be 100644
--- a/main/boofcv-geo/src/test/java/boofcv/abst/geo/bundle/GenericBundleAdjustmentProjectiveChecks.java
+++ b/main/boofcv-geo/src/test/java/boofcv/abst/geo/bundle/GenericBundleAdjustmentProjectiveChecks.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -154,7 +154,7 @@ static void checkReprojectionError( SceneStructureProjective structure, SceneObs
 		PointIndex2D_F64 o = new PointIndex2D_F64();
 		Point2D_F64 predicted = new Point2D_F64();
 
-		if (structure.homogenous) {
+		if (structure.homogeneous) {
 			Point4D_F64 p4 = new Point4D_F64();
 			Point3D_F64 p3 = new Point3D_F64();
 			for (int indexView = 0; indexView < observations.views.size; indexView++) {
@@ -192,9 +192,9 @@ static void checkReprojectionError( SceneStructureProjective structure, SceneObs
 	static void assertEquals( SceneStructureProjective a, SceneStructureProjective b,
 							  double tolDistance ) {
 
-		Assertions.assertEquals(a.homogenous, b.homogenous);
+		Assertions.assertEquals(a.homogeneous, b.homogeneous);
 
-		if (a.homogenous) {
+		if (a.homogeneous) {
 //			Point4D_F64 pa = new Point4D_F64();
 //			Point4D_F64 pb = new Point4D_F64();
 
diff --git a/main/boofcv-geo/src/test/java/boofcv/abst/geo/bundle/TestScaleSceneStructure.java b/main/boofcv-geo/src/test/java/boofcv/abst/geo/bundle/TestScaleSceneStructure.java
index 2e4d5278db..3ed101c155 100644
--- a/main/boofcv-geo/src/test/java/boofcv/abst/geo/bundle/TestScaleSceneStructure.java
+++ b/main/boofcv-geo/src/test/java/boofcv/abst/geo/bundle/TestScaleSceneStructure.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -53,15 +53,15 @@ class TestScaleSceneStructure extends BoofStandardJUnit {
 
 	@Test void apply_undo_metric() {
 		for (int h = 0; h < 2; h++) {
-			boolean homogenous = h == 1;
+			boolean homogeneous = h == 1;
 
 			var alg = new ScaleSceneStructure();
 
 			alg.medianPoint.setTo(0.5, 0.9, 1.3);
 			alg.medianDistancePoint = 1.2;
 
-			var expected = new SceneStructureMetric(homogenous);
-			var found = new SceneStructureMetric(homogenous);
+			var expected = new SceneStructureMetric(homogeneous);
+			var found = new SceneStructureMetric(homogeneous);
 
 			SceneObservations obs = createProjectiveScene(found, 0xBEEF);
 			createProjectiveScene(expected, 0xBEEF);
@@ -92,14 +92,14 @@ class TestScaleSceneStructure extends BoofStandardJUnit {
 			boolean pointsStats = p == 1;
 
 			for (int h = 0; h < 2; h++) {
-				boolean homogenous = h == 1;
+				boolean homogeneous = h == 1;
 				var alg = new ScaleSceneStructure();
 				alg.setScalePixelsUsingStats(pointsStats);
 				alg.medianPoint.setTo(0.5, 0.9, 1.3);
 				alg.medianDistancePoint = 1.2;
 
-				var expected = new SceneStructureProjective(homogenous);
-				var found = new SceneStructureProjective(homogenous);
+				var expected = new SceneStructureProjective(homogeneous);
+				var found = new SceneStructureProjective(homogeneous);
 
 				SceneObservations obs = createProjectiveScene(found, 0xBEEF);
 				createProjectiveScene(expected, 0xBEEF);
@@ -110,7 +110,7 @@ class TestScaleSceneStructure extends BoofStandardJUnit {
 				alg.applyScale(found, obs);
 
 				// Make sure it was changed
-				if (!homogenous) {
+				if (!homogeneous) {
 					// can't normalize camera matrix in this situation
 					for (int i = 0; i < expected.views.size; i++) {
 						double error = SpecializedOps_DDRM.diffNormF(expected.views.data[i].worldToView, found.views.data[i].worldToView);
@@ -134,7 +134,7 @@ class TestScaleSceneStructure extends BoofStandardJUnit {
 	 * Very basic check to see if observations are scaled from -0.5 to 0.5
 	 */
 	@Test void applyScaleToPixelsAndCameraMatrix() {
-		// homogenous or not doesn't matter
+		// homogeneous or not doesn't matter
 		var structure = new SceneStructureProjective(false);
 
 		SceneObservations obs = createProjectiveScene(structure, 0xBEEF);
@@ -188,7 +188,7 @@ public static SceneObservations createProjectiveScene( SceneStructureMetric scen
 		for (int i = 0; i < scene.points.size; i++) {
 			// Point in world frame
 			var X = new Point3D_F64(rand.nextGaussian(), rand.nextGaussian(), 3 + rand.nextGaussian());
-			if (scene.homogenous) {
+			if (scene.homogeneous) {
 				scene.points.data[i].set(X.x, X.y, X.z, 1);
 			} else {
 				scene.points.data[i].set(X.x, X.y, X.z);
@@ -243,7 +243,7 @@ static SceneObservations createProjectiveScene( SceneStructureProjective scene,
 		for (int i = 0; i < scene.points.size; i++) {
 			// Point in world frame
 			var X = new Point3D_F64(rand.nextGaussian(), rand.nextGaussian(), 3 + rand.nextGaussian());
-			if (scene.homogenous) {
+			if (scene.homogeneous) {
 				scene.points.data[i].set(X.x, X.y, X.z, 1);
 			} else {
 				scene.points.data[i].set(X.x, X.y, X.z);
diff --git a/main/boofcv-geo/src/test/java/boofcv/abst/geo/bundle/TestSceneStructureCommon.java b/main/boofcv-geo/src/test/java/boofcv/abst/geo/bundle/TestSceneStructureCommon.java
index 75eff092db..2c3608ac85 100644
--- a/main/boofcv-geo/src/test/java/boofcv/abst/geo/bundle/TestSceneStructureCommon.java
+++ b/main/boofcv-geo/src/test/java/boofcv/abst/geo/bundle/TestSceneStructureCommon.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -32,7 +32,7 @@ class TestSceneStructureCommon extends BoofStandardJUnit {
 	@Test
 	void removePoints() {
 		var structure = new MockSceneStructureCommon(false);
-		structure.homogenous = false;
+		structure.homogeneous = false;
 		structure.pointSize = 3;
 
 		var original = new ArrayList<Point>();
@@ -74,8 +74,8 @@ void Point_removeView() {
 
 	private static class MockSceneStructureCommon extends SceneStructureCommon {
 
-		MockSceneStructureCommon( boolean homogenous ) {
-			super(homogenous);
+		MockSceneStructureCommon( boolean homogeneous ) {
+			super(homogeneous);
 		}
 
 		@Override public int getParameterCount() {
diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/geo/TestMultiViewOps.java b/main/boofcv-geo/src/test/java/boofcv/alg/geo/TestMultiViewOps.java
index 6a207fc955..38511aedab 100644
--- a/main/boofcv-geo/src/test/java/boofcv/alg/geo/TestMultiViewOps.java
+++ b/main/boofcv-geo/src/test/java/boofcv/alg/geo/TestMultiViewOps.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -1376,8 +1376,8 @@ private void checkSplit3Lists( DogArray<AssociatedTriple> triples, List<List<Poi
 	}
 
 	@Test void sceneToCloud3() {
-		for (boolean homogenous : new boolean[]{false, true}) {
-			var helper = new BundleSceneHelper(homogenous, 10);
+		for (boolean homogeneous : new boolean[]{false, true}) {
+			var helper = new BundleSceneHelper(homogeneous, 10);
 			MultiViewOps.sceneToCloud3(helper.scene, 1e-8, ( idx, coor ) -> {
 				assertEquals(0.0, helper.cloud3.get(idx).distance(coor), UtilEjml.TEST_F64);
 				helper.counter++;
@@ -1387,8 +1387,8 @@ private void checkSplit3Lists( DogArray<AssociatedTriple> triples, List<List<Poi
 	}
 
 	@Test void sceneToCloudH() {
-		for (boolean homogenous : new boolean[]{false, true}) {
-			var helper = new BundleSceneHelper(homogenous, 10);
+		for (boolean homogeneous : new boolean[]{false, true}) {
+			var helper = new BundleSceneHelper(homogeneous, 10);
 			MultiViewOps.sceneToCloudH(helper.scene, ( idx, coor ) -> {
 				double distance = PerspectiveOps.distance3DvsH(helper.cloud3.get(idx), coor, 1e-8);
 				assertEquals(0.0, distance, UtilEjml.TEST_F64);
@@ -1485,7 +1485,7 @@ private class BundleSceneHelper {
 		List<Point3D_F64> cloud3;
 		int counter;
 
-		public BundleSceneHelper( boolean homogenous, int numPoints ) {
+		public BundleSceneHelper( boolean homogeneous, int numPoints ) {
 			world_to_view0 = SpecialEuclideanOps_F64.eulerXyz(0, 0.1, -0.2, 0.02, -0.04, 0.03, null);
 			world_to_view1 = SpecialEuclideanOps_F64.eulerXyz(0.3, 0.1, 0.2, 0.01, -0.06, 0.02, null);
 
@@ -1493,14 +1493,14 @@ public BundleSceneHelper( boolean homogenous, int numPoints ) {
 			cloud3 = UtilPoint3D_F64.random(new Point3D_F64(0, 0, 2),
 					-1, 1, -1, 1, -0.1, 0.1, numPoints, rand);
 
-			scene = new SceneStructureMetric(homogenous);
+			scene = new SceneStructureMetric(homogeneous);
 			scene.initialize(1, 3, numPoints);
 			scene.setCamera(0, true, intrinsic);
 			scene.setView(0, 0, true, world_to_view0);
 			scene.setView(1, 0, true, world_to_view1);
 			for (int i = 0; i < cloud3.size(); i++) {
 				Point3D_F64 p = cloud3.get(i);
-				if (homogenous) {
+				if (homogeneous) {
 					double w = rand.nextDouble() + 0.1;
 					scene.setPoint(i, p.x*w, p.y*w, p.z*w, w);
 				} else {
diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/geo/TestPerspectiveOps.java b/main/boofcv-geo/src/test/java/boofcv/alg/geo/TestPerspectiveOps.java
index 34c0799a81..fbbf960235 100644
--- a/main/boofcv-geo/src/test/java/boofcv/alg/geo/TestPerspectiveOps.java
+++ b/main/boofcv-geo/src/test/java/boofcv/alg/geo/TestPerspectiveOps.java
@@ -391,7 +391,7 @@ class TestPerspectiveOps extends BoofStandardJUnit {
 		assertEquals(expected.y, found.y, 1e-8);
 	}
 
-	@Test void renderPixel_SE3_homogenous() {
+	@Test void renderPixel_SE3_homogeneous() {
 		var X3 = new Point3D_F64(0.1, -0.05, 3);
 		var X4 = new Point4D_F64(0.1, -0.05, 3, 1);
 		X4.scale(1.2);
@@ -719,19 +719,19 @@ DMatrix3x3 random3x3() {
 		assertEquals(expected, found, UtilEjml.TEST_F64_SQ);
 	}
 
-	@Test void homogenousTo3dPositiveZ() {
+	@Test void homogeneousTo3dPositiveZ() {
 		Point3D_F64 found = new Point3D_F64();
-		PerspectiveOps.homogenousTo3dPositiveZ(new Point4D_F64(4, 6, 8, 2), 1e8, 1e-8, found);
+		PerspectiveOps.homogeneousTo3dPositiveZ(new Point4D_F64(4, 6, 8, 2), 1e8, 1e-8, found);
 		assertEquals(0.0, found.distance(2, 3, 4), UtilEjml.TEST_F64);
 
 		// positive constraint is only enforced for points at infinity
-		PerspectiveOps.homogenousTo3dPositiveZ(new Point4D_F64(4, 6, 8, -2), 1e8, 1e-8, found);
+		PerspectiveOps.homogeneousTo3dPositiveZ(new Point4D_F64(4, 6, 8, -2), 1e8, 1e-8, found);
 		assertEquals(0.0, found.distance(-2, -3, -4), UtilEjml.TEST_F64);
 
 		// point at infinity. chose to put it in front with positive z
 		double r = 1e8;
 		double d = Math.sqrt(4.0*4.0 + 6.0*6.0 + 8.0*8.0);
-		PerspectiveOps.homogenousTo3dPositiveZ(new Point4D_F64(-4, -6, -8, 0), r, 1e-8, found);
+		PerspectiveOps.homogeneousTo3dPositiveZ(new Point4D_F64(-4, -6, -8, 0), r, 1e-8, found);
 		assertEquals(0.0, found.distance(4*r/d, 6*r/d, 8*r/d), UtilEjml.TEST_F64);
 	}
 
@@ -746,13 +746,13 @@ DMatrix3x3 random3x3() {
 		assertEquals(Double.POSITIVE_INFINITY, PerspectiveOps.distance3DvsH(a, b, 1e-8));
 	}
 
-	@Test void isBehindCamera_homogenous() {
+	@Test void isBehindCamera_homogeneous() {
 		// Easy numerically
-		isBehindCamera_homogenous(1.0);
+		isBehindCamera_homogeneous(1.0);
 
 		// Check for underflow and overflow issues
-		isBehindCamera_homogenous(1e20);
-		isBehindCamera_homogenous(1e-20);
+		isBehindCamera_homogeneous(1e20);
+		isBehindCamera_homogeneous(1e-20);
 
 		// Check an edge case
 		assertTrue(PerspectiveOps.isBehindCamera(new Point4D_F64(0, 0, 0, 0)));
@@ -766,7 +766,7 @@ DMatrix3x3 random3x3() {
 		checkBehindSwapSign(new Point4D_F64(0, 0, 1, Double.POSITIVE_INFINITY), false);
 	}
 
-	void isBehindCamera_homogenous( double v ) {
+	void isBehindCamera_homogeneous( double v ) {
 		// Standard scenarios
 		checkBehindSwapSign(new Point4D_F64(0, 0, -v, v), true);
 		checkBehindSwapSign(new Point4D_F64(0, 0, v, v), false);
diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/CommonBundleAdjustmentMetricSchurJacobian.java b/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/CommonBundleAdjustmentMetricSchurJacobian.java
index 30ea90c886..a3be98d690 100644
--- a/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/CommonBundleAdjustmentMetricSchurJacobian.java
+++ b/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/CommonBundleAdjustmentMetricSchurJacobian.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -60,8 +60,8 @@ public abstract class CommonBundleAdjustmentMetricSchurJacobian<M extends DMatri
 	}
 
 	public void compareToNumerical( BundleAdjustmentMetricSchurJacobian<M> alg,
-									boolean homogenous, boolean hasRigid, boolean hasRelative ) {
-		SceneStructureMetric structure = createScene(rand, homogenous, hasRigid, hasRelative);
+									boolean homogeneous, boolean hasRigid, boolean hasRelative ) {
+		SceneStructureMetric structure = createScene(rand, homogeneous, hasRigid, hasRelative);
 		SceneObservations observations = createObservations(rand, structure);
 
 		var param = new double[structure.getParameterCount()];
@@ -88,8 +88,8 @@ public void compareToNumerical( BundleAdjustmentMetricSchurJacobian<M> alg,
 		compareToNumerical_relative(true);
 	}
 
-	public void compareToNumerical_relative( boolean homogenous ) {
-		SceneStructureMetric structure = createScene(rand, homogenous, false, true);
+	public void compareToNumerical_relative( boolean homogeneous ) {
+		SceneStructureMetric structure = createScene(rand, homogeneous, false, true);
 		SceneObservations observations = createObservations(rand, structure);
 
 		// Try different patterns of relative views and attempt to cover all the edge cases
@@ -132,8 +132,8 @@ public void compareToNumerical_relative( boolean[] knownChain,
 		twoViewsOneMotion(false, true);
 	}
 
-	public void twoViewsOneMotion( boolean homogenous, boolean knownMotion ) {
-		SceneStructureMetric structure = createSceneStereo(rand, homogenous);
+	public void twoViewsOneMotion( boolean homogeneous, boolean knownMotion ) {
+		SceneStructureMetric structure = createSceneStereo(rand, homogeneous);
 		SceneObservations observations = createObservations(rand, structure);
 
 		structure.motions.forIdx(( i, m ) -> m.known = knownMotion);
@@ -161,8 +161,8 @@ public void twoViewsOneMotion( boolean homogenous, boolean knownMotion ) {
 		sameMotionInChain(true);
 	}
 
-	public void sameMotionInChain( boolean homogenous ) {
-		SceneStructureMetric structure = createSceneChainSameMotion(rand, homogenous);
+	public void sameMotionInChain( boolean homogeneous ) {
+		SceneStructureMetric structure = createSceneChainSameMotion(rand, homogeneous);
 		SceneObservations observations = createObservations(rand, structure);
 
 		var param = new double[structure.getParameterCount()];
@@ -210,8 +210,8 @@ public void sameMotionInChain( boolean homogenous ) {
 	 * Create a scene where a "stereo" camera is created that moves. The right to left transform is fixed and common
 	 * across all views
 	 */
-	static SceneStructureMetric createSceneChainSameMotion( Random rand, boolean homogenous ) {
-		SceneStructureMetric out = new SceneStructureMetric(homogenous);
+	static SceneStructureMetric createSceneChainSameMotion( Random rand, boolean homogeneous ) {
+		SceneStructureMetric out = new SceneStructureMetric(homogeneous);
 
 		int numSteps = 3;
 		out.initialize(1, numSteps, 5);
@@ -222,7 +222,7 @@ static SceneStructureMetric createSceneChainSameMotion( Random rand, boolean hom
 		// Create a fixed transform for left to right camera
 		int motionIdx = out.addMotion(false, SpecialEuclideanOps_F64.eulerXyz(0.25, 0.01, -0.05, 0.01, 0.02, -0.1, null));
 
-		if (homogenous) {
+		if (homogeneous) {
 			for (int i = 0; i < out.points.size; i++) {
 				double w = rand.nextDouble()*0.5 + 0.5;
 				out.setPoint(i, w*(i + 1), w*(i + 2*rand.nextGaussian()), w*(2*i - 3*rand.nextGaussian()), w);
diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestBundleAdjustmentMetricResidualFunction.java b/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestBundleAdjustmentMetricResidualFunction.java
index 6c17a06334..216e97e1c7 100644
--- a/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestBundleAdjustmentMetricResidualFunction.java
+++ b/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestBundleAdjustmentMetricResidualFunction.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -50,8 +50,8 @@ class TestBundleAdjustmentMetricResidualFunction extends BoofStandardJUnit {
 		multipleCalls(false, false, true);
 	}
 
-	void multipleCalls( boolean homogenous, boolean hasRigid, boolean hasRelative ) {
-		SceneStructureMetric structure = createScene(rand, homogenous, hasRigid, hasRelative);
+	void multipleCalls( boolean homogeneous, boolean hasRigid, boolean hasRelative ) {
+		SceneStructureMetric structure = createScene(rand, homogeneous, hasRigid, hasRelative);
 		SceneObservations obs = createObservations(rand, structure);
 
 		var param = new double[structure.getParameterCount()];
@@ -78,8 +78,8 @@ void multipleCalls( boolean homogenous, boolean hasRigid, boolean hasRelative )
 		changeInParamChangesOutput(false);
 	}
 
-	void changeInParamChangesOutput( boolean homogenous ) {
-		SceneStructureMetric structure = createScene(rand, homogenous, false, false);
+	void changeInParamChangesOutput( boolean homogeneous ) {
+		SceneStructureMetric structure = createScene(rand, homogeneous, false, false);
 		var param = new double[structure.getParameterCount()];
 
 		new CodecSceneStructureMetric().encode(structure, param);
@@ -120,8 +120,8 @@ void changeInParamChangesOutput( boolean homogenous ) {
 		chainedRelativeViews(false);
 	}
 
-	void chainedRelativeViews( boolean homogenous ) {
-		SceneStructureMetric structure = createScene(rand, homogenous, false, false);
+	void chainedRelativeViews( boolean homogeneous ) {
+		SceneStructureMetric structure = createScene(rand, homogeneous, false, false);
 		// Make each view be relative to the previous view
 		structure.views.forIdx(( i, v ) -> v.parent = i > 0 ? structure.views.data[i - 1] : null);
 
@@ -166,8 +166,8 @@ void chainedRelativeViews( boolean homogenous ) {
 		cameraState(false);
 	}
 
-	void cameraState( boolean homogenous ) {
-		SceneStructureMetric structure = createSceneZoomState(rand, homogenous);
+	void cameraState( boolean homogeneous ) {
+		SceneStructureMetric structure = createSceneZoomState(rand, homogeneous);
 		SceneObservations observations = createObservations(rand, structure);
 
 		// Add the camera state to all observation views
diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestBundleAdjustmentProjectiveResidualFunction.java b/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestBundleAdjustmentProjectiveResidualFunction.java
index 616e52ab1b..631fc1424b 100644
--- a/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestBundleAdjustmentProjectiveResidualFunction.java
+++ b/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestBundleAdjustmentProjectiveResidualFunction.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -43,8 +43,8 @@ void multipleCalls() {
 		multipleCalls(true);
 	}
 
-	void multipleCalls( boolean homogenous ) {
-		SceneStructureProjective structure = homogenous ? createSceneH(rand) : createScene3D(rand);
+	void multipleCalls( boolean homogeneous ) {
+		SceneStructureProjective structure = homogeneous ? createSceneH(rand) : createScene3D(rand);
 		SceneObservations obs = createObservations(rand, structure);
 
 		double[] param = new double[structure.getParameterCount()];
@@ -72,8 +72,8 @@ void changeInParamChangesOutput() {
 		changeInParamChangesOutput(true);
 	}
 
-	void changeInParamChangesOutput( boolean homogenous ) {
-		SceneStructureProjective structure = homogenous ? createSceneH(rand) : createScene3D(rand);
+	void changeInParamChangesOutput( boolean homogeneous ) {
+		SceneStructureProjective structure = homogeneous ? createSceneH(rand) : createScene3D(rand);
 		double[] param = new double[structure.getParameterCount()];
 
 		new CodecSceneStructureProjective().encode(structure, param);
diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestBundleAdjustmentProjectiveSchurJacobian_DDRM.java b/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestBundleAdjustmentProjectiveSchurJacobian_DDRM.java
index a162da590a..b81bbb4e7d 100644
--- a/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestBundleAdjustmentProjectiveSchurJacobian_DDRM.java
+++ b/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestBundleAdjustmentProjectiveSchurJacobian_DDRM.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -54,7 +54,7 @@ void compareToNumerical_3D() {
 	}
 
 	@Test
-	void compareToNumerical_Homogenous() {
+	void compareToNumerical_Homogeneous() {
 		SceneStructureProjective structure = createSceneH(rand);
 		SceneObservations observations = createObservations(rand, structure);
 
diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestBundleAdjustmentProjectiveSchurJacobian_DSCC.java b/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestBundleAdjustmentProjectiveSchurJacobian_DSCC.java
index 0175e1f60e..1576a804c1 100644
--- a/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestBundleAdjustmentProjectiveSchurJacobian_DSCC.java
+++ b/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestBundleAdjustmentProjectiveSchurJacobian_DSCC.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -54,7 +54,7 @@ void compareToNumerical_3D() {
 	}
 
 	@Test
-	void compareToNumerical_Homogenous() {
+	void compareToNumerical_Homogeneous() {
 		SceneStructureProjective structure = createSceneH(rand);
 		SceneObservations observations = createObservations(rand, structure);
 
diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestCodecSceneStructureMetric.java b/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestCodecSceneStructureMetric.java
index 21a2169ef6..8505336314 100644
--- a/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestCodecSceneStructureMetric.java
+++ b/main/boofcv-geo/src/test/java/boofcv/alg/geo/bundle/TestCodecSceneStructureMetric.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -43,22 +43,22 @@ class TestCodecSceneStructureMetric extends BoofStandardJUnit {
 		encode_decode(false, true);
 	}
 
-	void encode_decode( boolean homogenous, boolean hasRigid ) {
-		SceneStructureMetric original = createScene(rand, homogenous, hasRigid, false);
+	void encode_decode( boolean homogeneous, boolean hasRigid ) {
+		SceneStructureMetric original = createScene(rand, homogeneous, hasRigid, false);
 
 		CodecSceneStructureMetric codec = new CodecSceneStructureMetric();
 
-		int pointLength = homogenous ? 4 : 3;
+		int pointLength = homogeneous ? 4 : 3;
 		int N = original.getUnknownMotionCount()*6 + original.getUnknownRigidCount()*6 +
 				original.points.size*pointLength + original.getUnknownCameraParameterCount();
 		assertEquals(N, original.getParameterCount());
 		double[] param = new double[N];
 		codec.encode(original, param);
 
-		SceneStructureMetric found = createScene(rand, homogenous, hasRigid, false);
+		SceneStructureMetric found = createScene(rand, homogeneous, hasRigid, false);
 		codec.decode(param, found);
 
-		assertEquals(homogenous, found.isHomogenous());
+		assertEquals(homogeneous, found.isHomogeneous());
 		for (int i = 0; i < original.points.size; i++) {
 			assertTrue(original.points.data[i].distance(found.points.data[i]) < UtilEjml.TEST_F64);
 		}
@@ -99,8 +99,8 @@ void encode_decode( boolean homogenous, boolean hasRigid ) {
 		}
 	}
 
-	static SceneStructureMetric createScene( Random rand, boolean homogenous, boolean hasRigid, boolean hasRelative ) {
-		var out = new SceneStructureMetric(homogenous);
+	static SceneStructureMetric createScene( Random rand, boolean homogeneous, boolean hasRigid, boolean hasRelative ) {
+		var out = new SceneStructureMetric(homogeneous);
 
 		int numRigid = hasRigid ? 2 : 0;
 
@@ -121,7 +121,7 @@ static SceneStructureMetric createScene( Random rand, boolean homogenous, boolea
 
 			for (int i = 0; i < out.rigids.size; i++) {
 				SceneStructureMetric.Rigid r = out.rigids.data[i];
-				if (homogenous) {
+				if (homogeneous) {
 					for (int j = 0; j < r.points.length; j++) {
 						// sign shouldn't matter
 						double sign = rand.nextBoolean() ? -1 : 1;
@@ -150,7 +150,7 @@ static SceneStructureMetric createScene( Random rand, boolean homogenous, boolea
 		}
 		out.assignIDsToRigidPoints();
 
-		if (homogenous) {
+		if (homogeneous) {
 			for (int i = 0; i < out.points.size; i++) {
 				// sign shouldn't matter
 				double sign = rand.nextBoolean() ? -1 : 1;
@@ -196,8 +196,8 @@ static SceneStructureMetric createScene( Random rand, boolean homogenous, boolea
 	 * Create a scene where a "stereo" camera is created that moves. The right to left transform is fixed and common
 	 * across all views
 	 */
-	static SceneStructureMetric createSceneStereo( Random rand, boolean homogenous ) {
-		var out = new SceneStructureMetric(homogenous);
+	static SceneStructureMetric createSceneStereo( Random rand, boolean homogeneous ) {
+		var out = new SceneStructureMetric(homogeneous);
 
 		int numSteps = 2;
 		out.initialize(2, 2*numSteps, 10);
@@ -213,7 +213,7 @@ static SceneStructureMetric createSceneStereo( Random rand, boolean homogenous )
 		// Create a fixed transform for left to right camera
 		int leftToRightIdx = out.addMotion(true, SpecialEuclideanOps_F64.eulerXyz(0.25, 0.01, -0.05, 0.01, 0.02, -0.1, null));
 
-		if (homogenous) {
+		if (homogeneous) {
 			for (int i = 0; i < out.points.size; i++) {
 				double w = rand.nextDouble()*0.5 + 0.5;
 				out.setPoint(i, w*(i + 1), w*(i + 2*rand.nextGaussian()), w*(2*i - 3*rand.nextGaussian()), w);
@@ -250,14 +250,14 @@ static SceneStructureMetric createSceneStereo( Random rand, boolean homogenous )
 	/**
 	 * Create a scene where the camera has an adjustable zoom
 	 */
-	static SceneStructureMetric createSceneZoomState( Random rand, boolean homogenous ) {
-		var out = new SceneStructureMetric(homogenous);
+	static SceneStructureMetric createSceneZoomState( Random rand, boolean homogeneous ) {
+		var out = new SceneStructureMetric(homogeneous);
 
 		out.initialize(1, 4, 4, 6, 0);
 
 		out.setCamera(0, true, new BundleZoomSimplified(0.0, 1.0, 0.04, -0.01));
 
-		if (homogenous) {
+		if (homogeneous) {
 			for (int i = 0; i < out.points.size; i++) {
 				double w = rand.nextDouble()*0.5 + 0.5;
 				out.setPoint(i, w*(i + 1), w*(i + 2*rand.nextGaussian()), w*(2*i - 3*rand.nextGaussian()), w);
diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/geo/h/CommonHomographyChecks.java b/main/boofcv-geo/src/test/java/boofcv/alg/geo/h/CommonHomographyChecks.java
index 35ef6c382e..bdb1e846af 100644
--- a/main/boofcv-geo/src/test/java/boofcv/alg/geo/h/CommonHomographyChecks.java
+++ b/main/boofcv-geo/src/test/java/boofcv/alg/geo/h/CommonHomographyChecks.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -77,7 +77,7 @@ public void createScene( int numPoints, boolean isPixels ) {
 			AssociatedPair p2 = pairs2D.get(i);
 			AssociatedPair3D p3 = new AssociatedPair3D();
 
-			// same point but in homogenous coordinates and Z isn't always 1
+			// same point but in homogeneous coordinates and Z isn't always 1
 			double z = 1.0 + rand.nextGaussian()*0.1;
 			p3.p1.setTo(p2.p1.x*z, p2.p1.y*z, z);
 			p3.p2.setTo(p2.p2.x*z, p2.p2.y*z, z);
diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/ChecksMotionNPointHomogenous.java b/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/ChecksMotionNPointHomogeneous.java
similarity index 95%
rename from main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/ChecksMotionNPointHomogenous.java
rename to main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/ChecksMotionNPointHomogeneous.java
index 98a54a7b6a..48ca07a1a1 100644
--- a/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/ChecksMotionNPointHomogenous.java
+++ b/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/ChecksMotionNPointHomogeneous.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -37,7 +37,7 @@
  *
  * @author Peter Abeles
  */
-public abstract class ChecksMotionNPointHomogenous extends CommonMotionNPointHomogenous {
+public abstract class ChecksMotionNPointHomogeneous extends CommonMotionNPointHomogeneous {
 
 	public abstract DMatrixRMaj compute( List<AssociatedPair> obs, List<Point4D_F64> locations );
 
diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/CommonMotionNPointHomogenous.java b/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/CommonMotionNPointHomogeneous.java
similarity index 94%
rename from main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/CommonMotionNPointHomogenous.java
rename to main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/CommonMotionNPointHomogeneous.java
index 49151e35fd..df1d835184 100644
--- a/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/CommonMotionNPointHomogenous.java
+++ b/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/CommonMotionNPointHomogeneous.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2020, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -37,7 +37,7 @@
  *
  * @author Peter Abeles
  */
-public class CommonMotionNPointHomogenous extends BoofStandardJUnit {
+public class CommonMotionNPointHomogeneous extends BoofStandardJUnit {
 
 	// Projection matrix 3x4
 	protected DMatrixRMaj projection;
diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/CommonThreeViewHomogenous.java b/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/CommonThreeViewHomogeneous.java
similarity index 96%
rename from main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/CommonThreeViewHomogenous.java
rename to main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/CommonThreeViewHomogeneous.java
index 3b7fd15baa..bf10bfe09f 100644
--- a/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/CommonThreeViewHomogenous.java
+++ b/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/CommonThreeViewHomogeneous.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -34,7 +34,7 @@
 import java.util.ArrayList;
 import java.util.List;
 
-public abstract class CommonThreeViewHomogenous extends BoofStandardJUnit {
+public abstract class CommonThreeViewHomogeneous extends BoofStandardJUnit {
 	protected DMatrixRMaj K = PerspectiveOps.pinholeToMatrix(
 			new CameraPinhole(500,500,0,250,250,1000,1000),(DMatrixRMaj)null);
 
diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/TestCompatibleProjectiveHomography.java b/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/TestCompatibleProjectiveHomography.java
index 7ef2629d27..48e835bb1a 100644
--- a/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/TestCompatibleProjectiveHomography.java
+++ b/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/TestCompatibleProjectiveHomography.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -42,7 +42,7 @@
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-public class TestCompatibleProjectiveHomography extends CommonThreeViewHomogenous {
+public class TestCompatibleProjectiveHomography extends CommonThreeViewHomogeneous {
 
 	List<DMatrixRMaj> camerasB;
 	List<Point4D_F64> sceneB;
diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/TestPRnPDirectLinearTransform.java b/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/TestPRnPDirectLinearTransform.java
index af9d5bf1a8..535b527918 100644
--- a/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/TestPRnPDirectLinearTransform.java
+++ b/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/TestPRnPDirectLinearTransform.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -31,7 +31,7 @@
 
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-class TestPRnPDirectLinearTransform extends CommonMotionNPointHomogenous {
+class TestPRnPDirectLinearTransform extends CommonMotionNPointHomogeneous {
 	/**
 	 * No noise minimal case. General structure
 	 */
diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/TestPoseFromPairLinear6.java b/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/TestPoseFromPairLinear6.java
index 491a45f769..cb8f7652c3 100644
--- a/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/TestPoseFromPairLinear6.java
+++ b/main/boofcv-geo/src/test/java/boofcv/alg/geo/pose/TestPoseFromPairLinear6.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -69,13 +69,13 @@ public Se3_F64 compute(List<AssociatedPair> obs, List<Point3D_F64> locations) {
 	}
 
 	@Nested
-	class Projective extends ChecksMotionNPointHomogenous
+	class Projective extends ChecksMotionNPointHomogeneous
 	{
 		@Override
 		public DMatrixRMaj compute(List<AssociatedPair> obs, List<Point4D_F64> locations) {
 			PoseFromPairLinear6 alg = new PoseFromPairLinear6();
 
-			alg.processHomogenous(obs,locations);
+			alg.processHomogeneous(obs,locations);
 
 			return alg.getProjective();
 		}
diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/geo/triangulate/CommonTriangulationChecks.java b/main/boofcv-geo/src/test/java/boofcv/alg/geo/triangulate/CommonTriangulationChecks.java
index 84908691f1..fbaec8463f 100644
--- a/main/boofcv-geo/src/test/java/boofcv/alg/geo/triangulate/CommonTriangulationChecks.java
+++ b/main/boofcv-geo/src/test/java/boofcv/alg/geo/triangulate/CommonTriangulationChecks.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -69,7 +69,7 @@ public void createScene( Point3D_F64 worldPoint ) {
 
 	public void createScene( Point4D_F64 point ) {
 		worldPointH = point.copy();
-		PerspectiveOps.homogenousTo3dPositiveZ(point, Double.MAX_VALUE, 1e-16, worldPoint);
+		PerspectiveOps.homogeneousTo3dPositiveZ(point, Double.MAX_VALUE, 1e-16, worldPoint);
 		motionWorldToCamera = new ArrayList<>();
 		obsNorm = new ArrayList<>();
 		obsPointing = new ArrayList<>();
diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/geo/triangulate/TestTriangulate2ViewsGeometricMetric.java b/main/boofcv-geo/src/test/java/boofcv/alg/geo/triangulate/TestTriangulate2ViewsGeometricMetric.java
index 6da85aba07..5041b63c68 100644
--- a/main/boofcv-geo/src/test/java/boofcv/alg/geo/triangulate/TestTriangulate2ViewsGeometricMetric.java
+++ b/main/boofcv-geo/src/test/java/boofcv/alg/geo/triangulate/TestTriangulate2ViewsGeometricMetric.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -45,7 +45,7 @@ public class TestTriangulate2ViewsGeometricMetric extends CommonTriangulationChe
 		}
 	}
 
-	@Test void triangulate_two_homogenous() {
+	@Test void triangulate_two_homogeneous() {
 		createScene();
 
 		var alg = new Triangulate2ViewsGeometricMetric();
diff --git a/main/boofcv-geo/todo.txt b/main/boofcv-geo/todo.txt
index 055e3d332b..e5a0109ade 100644
--- a/main/boofcv-geo/todo.txt
+++ b/main/boofcv-geo/todo.txt
@@ -4,7 +4,7 @@
 - Compare EPnP directly to author's c code
 
 - Bundle Adjustment
-  * Using homogenous coordinates
+  * Using homogeneous coordinates
   * compare to opencv
 
 - Triangulation Stability
diff --git a/main/boofcv-io/src/main/java/boofcv/io/geo/MultiViewIO.java b/main/boofcv-io/src/main/java/boofcv/io/geo/MultiViewIO.java
index 6ffb3afdf0..f63883fc59 100644
--- a/main/boofcv-io/src/main/java/boofcv/io/geo/MultiViewIO.java
+++ b/main/boofcv-io/src/main/java/boofcv/io/geo/MultiViewIO.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -252,7 +252,7 @@ public static void save( SceneStructureMetric scene, Writer outputWriter ) {
 		data.put("rigids", rigids);
 		data.put("cameras", cameras);
 		data.put("points", points);
-		data.put("homogenous", scene.isHomogenous());
+		data.put("homogeneous", scene.isHomogeneous());
 		data.put("data_type", "SceneStructureMetric");
 		data.put("version", 0);
 
@@ -464,7 +464,7 @@ public static SceneStructureMetric load( Reader reader, @Nullable SceneStructure
 		Map<String, Object> data = yaml.load(reader);
 		try {
 			reader.close();
-			boolean homogenous = getOrThrow(data, "homogenous");
+			boolean homogeneous = getOrThrow(data, "homogeneous");
 
 			List<Map<String, Object>> yamlViews = getOrThrow(data, "views");
 			List<Map<String, Object>> yamlMotions = getOrThrow(data, "motions");
@@ -472,10 +472,10 @@ public static SceneStructureMetric load( Reader reader, @Nullable SceneStructure
 			List<Map<String, Object>> yamlCameras = getOrThrow(data, "cameras");
 			List<Map<String, Object>> yamlPoints = getOrThrow(data, "points");
 
-			if (scene != null && scene.isHomogenous() != homogenous)
+			if (scene != null && scene.isHomogeneous() != homogeneous)
 				scene = null;
 			if (scene == null)
-				scene = new SceneStructureMetric(homogenous);
+				scene = new SceneStructureMetric(homogeneous);
 			scene.initialize(
 					yamlCameras.size(), yamlViews.size(), yamlMotions.size(), yamlPoints.size(), yamlRigids.size());
 
@@ -498,7 +498,7 @@ public static SceneStructureMetric load( Reader reader, @Nullable SceneStructure
 				SceneStructureMetric.Rigid r = scene.rigids.get(i);
 				Map<String, Object> yamlRigid = yamlRigids.get(i);
 				List<Map<String, Object>> points = getOrThrow(yamlRigid, "points");
-				r.init(points.size(), scene.isHomogenous() ? 4 : 3);
+				r.init(points.size(), scene.isHomogeneous() ? 4 : 3);
 				r.known = getOrThrow(yamlRigid, "known");
 				r.indexFirst = getOrThrow(yamlRigid, "indexFirst");
 				loadSE3(getOrThrow(yamlRigid, "object_to_world"), r.object_to_world);
diff --git a/main/boofcv-io/src/test/java/boofcv/io/geo/TestMultiViewIO.java b/main/boofcv-io/src/test/java/boofcv/io/geo/TestMultiViewIO.java
index 5d6643675a..343abc052e 100644
--- a/main/boofcv-io/src/test/java/boofcv/io/geo/TestMultiViewIO.java
+++ b/main/boofcv-io/src/test/java/boofcv/io/geo/TestMultiViewIO.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -351,7 +351,7 @@ private SceneStructureMetric createSceneStructureMetric() {
 			r.indexFirst = rand.nextInt(10);
 			r.points = new SceneStructureCommon.Point[rand.nextInt(4)];
 			for (int j = 0; j < r.points.length; j++) {
-				r.points[j] = new SceneStructureCommon.Point(ret.isHomogenous() ? 4 : 3);
+				r.points[j] = new SceneStructureCommon.Point(ret.isHomogeneous() ? 4 : 3);
 				randomizePoint(r.points[j]);
 			}
 		}
diff --git a/main/boofcv-ip-multiview/src/main/java/boofcv/alg/mvs/MultiBaselineDisparityErrors.java b/main/boofcv-ip-multiview/src/main/java/boofcv/alg/mvs/MultiBaselineDisparityErrors.java
index 01ae54e673..cb51f97292 100644
--- a/main/boofcv-ip-multiview/src/main/java/boofcv/alg/mvs/MultiBaselineDisparityErrors.java
+++ b/main/boofcv-ip-multiview/src/main/java/boofcv/alg/mvs/MultiBaselineDisparityErrors.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -195,7 +195,7 @@ boolean addToFusedImage( DisparityImage image ) {
 
 				// Convert the disparity from "image" into "fused image"
 				// First compute the 3D point in the rectified coordinate system
-				// This is a homogenous coordinate where w = d. It can handle infinity
+				// This is a homogeneous coordinate where w = d. It can handle infinity
 				double rectZ = imageBaseline*imageFocalX;
 				double rectX = rectZ*(rectPixX - imagePinhole.cx)/imagePinhole.fx;
 				double rectY = rectZ*(rectPixY - imagePinhole.cy)/imagePinhole.fy;
diff --git a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/GenerateStereoPairGraphFromScene.java b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/GenerateStereoPairGraphFromScene.java
index 9085f1d460..8b3645f133 100644
--- a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/GenerateStereoPairGraphFromScene.java
+++ b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/GenerateStereoPairGraphFromScene.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -137,7 +137,7 @@ protected void matchPointsToViews( SceneStructureMetric scene ) {
 				// use the world axis and not the local one
 				scene.getWorldToView(scene.views.get(viewIdxA), world_to_view, tmpSE);
 
-				computePointingVector(world_to_view, p, scene.isHomogenous(), viewA.pointing.grow());
+				computePointingVector(world_to_view, p, scene.isHomogeneous(), viewA.pointing.grow());
 
 				// Connect this view to the other views
 				for (int j = i + 1; j < p.views.size; j++) {
@@ -153,20 +153,20 @@ protected void matchPointsToViews( SceneStructureMetric scene ) {
 	 * @param pointing (Output) Cartesian vector pointing from the view to the point.
 	 */
 	protected void computePointingVector( Se3_F64 world_to_view, SceneStructureCommon.Point p,
-										  boolean homogenous, Vector3D_F64 pointing ) {
+										  boolean homogeneous, Vector3D_F64 pointing ) {
 		double x = p.coordinate[0];
 		double y = p.coordinate[1];
 		double z = p.coordinate[2];
-		double w = homogenous ? p.coordinate[3] : 1.0;
+		double w = homogeneous ? p.coordinate[3] : 1.0;
 
-		// pointing = [ I | T] h, where h is homogenous coordinates and T is view's location
+		// pointing = [ I | T] h, where h is homogeneous coordinates and T is view's location
 		pointing.x = x + world_to_view.T.x*w;
 		pointing.y = y + world_to_view.T.y*w;
 		pointing.z = z + world_to_view.T.z*w;
 		pointing.normalize();
 
-		// There's a sign ambiguity in the homogenous case that needs to be resolved
-		if (!homogenous)
+		// There's a sign ambiguity in the homogeneous case that needs to be resolved
+		if (!homogeneous)
 			return;
 
 		// It can be resolved by assuming a camera can't see backwards. Direction of camera can be determined
diff --git a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/InitializeCommonProjective.java b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/InitializeCommonProjective.java
index 81e6ed920c..9910014f7c 100644
--- a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/InitializeCommonProjective.java
+++ b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/InitializeCommonProjective.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -90,7 +90,7 @@ public class InitializeCommonProjective implements VerbosePrint {
 
 	//-------------- Internal workspace variables
 	protected final int[] selectedTriple = new int[2];
-	// triangulated 3D homogenous points in seed reference frame
+	// triangulated 3D homogeneous points in seed reference frame
 	protected final DogArray<Point4D_F64> points3D = new DogArray<>(Point4D_F64::new);
 	// Associated pixel observations
 	protected final DogArray<AssociatedPair> assocPixel = new DogArray<>(AssociatedPair::new);
@@ -420,8 +420,8 @@ boolean computeCameraMatrix( View seed, Motion edge, DogArray<Point2D_F64> feats
 			assocPixel.get(i).p2.setTo(featsB.get(dstIdx));
 		}
 
-		// Estimate the camera matrix given homogenous pixel observations
-		if (utils.poseEstimator.processHomogenous(assocPixel.toList(), points3D.toList())) {
+		// Estimate the camera matrix given homogeneous pixel observations
+		if (utils.poseEstimator.processHomogeneous(assocPixel.toList(), points3D.toList())) {
 			cameraMatrix.setTo(utils.poseEstimator.getProjective());
 			return true;
 		} else {
diff --git a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/MetricSanityChecks.java b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/MetricSanityChecks.java
index 6db55ef26f..09784b9287 100644
--- a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/MetricSanityChecks.java
+++ b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/MetricSanityChecks.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -257,7 +257,7 @@ public boolean checkPhysicalConstraints( SceneStructureMetric structure,
 				worldP.x = p.getX();
 				worldP.y = p.getY();
 				worldP.z = p.getZ();
-				if (structure.isHomogenous()) {
+				if (structure.isHomogeneous()) {
 					worldP.w = p.getW();
 				}
 				// worldP.w = 1 was already set for 3D points
diff --git a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/PairwiseGraphUtils.java b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/PairwiseGraphUtils.java
index c699c8a35a..7732d7491f 100644
--- a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/PairwiseGraphUtils.java
+++ b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/PairwiseGraphUtils.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -347,7 +347,7 @@ public InlierInfo saveRansacInliers( SceneWorkingGraph.View view, DogArray_I32 i
 	 *
 	 * 1) RANSAC to fit a trifocal tensor
 	 * 2) Extract camera matrices that have a common projective space
-	 * 3) Triangulate location of 3D homogenous points
+	 * 3) Triangulate location of 3D homogeneous points
 	 *
 	 * @param fixedSeed if true the seed is fixed and other views are not. If false then the inverse happens.
 	 */
@@ -365,12 +365,12 @@ public void initializeSbaSceneThreeView( boolean fixedSeed ) {
 		structurePr.setView(1, !fixedSeed, P2, priorCamB.width, priorCamB.height);
 		structurePr.setView(2, !fixedSeed, P3, priorCamC.width, priorCamC.height);
 
-		// triangulate homogenous coordinates for each point in the inlier set
+		// triangulate homogeneous coordinates for each point in the inlier set
 		triangulateFeatures();
 	}
 
 	/**
-	 * Triangulates the location of each features in homogenous space and save to bundle adjustment scene
+	 * Triangulates the location of each features in homogeneous space and save to bundle adjustment scene
 	 */
 	protected void triangulateFeatures() {
 		checkTrue(structurePr.views.size > 0, "Must initialize the structure first");
diff --git a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/RefineMetricWorkingGraph.java b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/RefineMetricWorkingGraph.java
index b681136cde..45d3907dc3 100644
--- a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/RefineMetricWorkingGraph.java
+++ b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/RefineMetricWorkingGraph.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -101,7 +101,7 @@ public class RefineMetricWorkingGraph implements VerbosePrint {
 	private final Point2D_F64 pixelObserved = new Point2D_F64();
 	// storage for predicted pixel
 	private final Point2D_F64 pixelPredicted = new Point2D_F64();
-	// storage for 3D feature in homogenous coordinates in world reference frame
+	// storage for 3D feature in homogeneous coordinates in world reference frame
 	private final Point4D_F64 world3D = new Point4D_F64();
 	// 3D feature in camera coordinates
 	private final Point4D_F64 camera3D = new Point4D_F64();
@@ -462,7 +462,7 @@ void triangulateAndSave( SceneWorkingGraph.InlierInfo inlierSet, int inlierIdx )
 		int pointID = structure.points.size;
 		SceneStructureCommon.Point point3D = structure.points.grow();
 
-		if (structure.isHomogenous())
+		if (structure.isHomogeneous())
 			point3D.set(found3D.x, found3D.y, found3D.z, found3D.w);
 		else
 			point3D.set(found3D.x/found3D.w, found3D.y/found3D.w, found3D.z/found3D.w);
diff --git a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/ThreeViewEstimateMetricScene.java b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/ThreeViewEstimateMetricScene.java
index 9b1776c869..4f76660f28 100644
--- a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/ThreeViewEstimateMetricScene.java
+++ b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/ThreeViewEstimateMetricScene.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -93,8 +93,8 @@ public class ThreeViewEstimateMetricScene implements VerbosePrint {
 	public ConfigBundleAdjustment configSBA = new ConfigBundleAdjustment();
 	public ConfigConverge convergeSBA = new ConfigConverge(1e-6, 1e-6, 100);
 
-	/** Optimize points in homogenous coordinates */
-	public boolean homogenous = false;
+	/** Optimize points in homogeneous coordinates */
+	public boolean homogeneous = false;
 
 	/** Use to specify if multiple views share a camera. Values from 0 to 2, inclusive. */
 	public int[] viewToCamera = new int[]{0, 0, 0};
@@ -155,7 +155,7 @@ public ThreeViewEstimateMetricScene() {
 	public void declareAlgorithms() {
 		// TODO let it specify image shape for each view independently
 		ransac = FactoryMultiViewRobust.metricThreeViewRansac(configSelfCalib, configRansac);
-		structure = new SceneStructureMetric(homogenous);
+		structure = new SceneStructureMetric(homogeneous);
 		observations = new SceneObservations();
 		bundleAdjustment = FactoryMultiView.bundleSparseMetric(configSBA);
 		bundleAdjustment.configure(convergeSBA.ftol, convergeSBA.gtol, convergeSBA.maxIterations);
@@ -442,7 +442,7 @@ private void averageIntrinsicParameters( MetricCameraTriple results ) {
 	 */
 	private boolean checkBehindCamera( SceneStructureMetric structure ) {
 		int totalBehind = 0;
-		if (homogenous) {
+		if (homogeneous) {
 			var X = new Point4D_F64();
 			for (int i = 0; i < structure.points.size; i++) {
 				structure.points.data[i].get(X);
diff --git a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/expand/EstimateViewKnownCalibration.java b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/expand/EstimateViewKnownCalibration.java
index 9ce96b1e0f..9d895d971b 100644
--- a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/expand/EstimateViewKnownCalibration.java
+++ b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/expand/EstimateViewKnownCalibration.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -194,8 +194,8 @@ boolean estimateViewPose() {
 	}
 
 	/**
-	 * Triangulates points. Triangulation is done in homogenous coordinates but then converted to 3D points
-	 * since there current isn't a variant of PnP in BoofCV which can handle homogenous points.
+	 * Triangulates points. Triangulation is done in homogeneous coordinates but then converted to 3D points
+	 * since there current isn't a variant of PnP in BoofCV which can handle homogeneous points.
 	 *
 	 * As a results, thigns will go poorly if a point is at or very near to infinity
 	 */
@@ -218,7 +218,7 @@ private void triangulateForPnP() {
 			// Reject points that are behind the camera or at infinity since PnP can't handle infinity
 			if (X.w*X.z <= 0)
 				continue;
-			// NOTE: In the future it would be best if we could pass in homogenous points into PNP
+			// NOTE: In the future it would be best if we could pass in homogeneous points into PNP
 
 			// Note that this point was added to the input list
 			inputPnP_to_inliersThreeView.add(tripleCnt);
diff --git a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/expand/EstimateViewUtils.java b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/expand/EstimateViewUtils.java
index dce9e2a586..16603c563b 100644
--- a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/expand/EstimateViewUtils.java
+++ b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/expand/EstimateViewUtils.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -211,7 +211,7 @@ public void configureSbaStructure( List<AssociatedTriple> inliersThreeView ) {
 				throw new RuntimeException("Triangulation failed. Possibly bad input. Handle this problem");
 			}
 
-			if (structure.isHomogenous())
+			if (structure.isHomogeneous())
 				structure.setPoint(inlierCnt, foundX.x, foundX.y, foundX.z, foundX.w);
 			else
 				structure.setPoint(inlierCnt, foundX.x/foundX.w, foundX.y/foundX.w, foundX.z/foundX.w);
diff --git a/main/boofcv-reconstruction/src/main/java/boofcv/factory/structure/FactorySceneReconstruction.java b/main/boofcv-reconstruction/src/main/java/boofcv/factory/structure/FactorySceneReconstruction.java
index 0f9aa538f8..3d5b800f18 100644
--- a/main/boofcv-reconstruction/src/main/java/boofcv/factory/structure/FactorySceneReconstruction.java
+++ b/main/boofcv-reconstruction/src/main/java/boofcv/factory/structure/FactorySceneReconstruction.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -71,7 +71,7 @@ public static MetricBundleAdjustmentUtils bundleUtils( @Nullable ConfigBundleUti
 		if (config == null)
 			config = new ConfigBundleUtils();
 
-		var alg = new MetricBundleAdjustmentUtils(config.triangulation, config.homogenous);
+		var alg = new MetricBundleAdjustmentUtils(config.triangulation, config.homogeneous);
 		alg.configConverge.setTo(config.converge);
 		alg.configScale = config.scale;
 		alg.keepFraction = config.keepFraction;
diff --git a/main/boofcv-reconstruction/src/test/java/boofcv/alg/structure/TestGenerateStereoPairGraphFromScene.java b/main/boofcv-reconstruction/src/test/java/boofcv/alg/structure/TestGenerateStereoPairGraphFromScene.java
index cea1943490..6394c66575 100644
--- a/main/boofcv-reconstruction/src/test/java/boofcv/alg/structure/TestGenerateStereoPairGraphFromScene.java
+++ b/main/boofcv-reconstruction/src/test/java/boofcv/alg/structure/TestGenerateStereoPairGraphFromScene.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -136,7 +136,7 @@ class TestGenerateStereoPairGraphFromScene extends BoofStandardJUnit {
 		assertEquals(0.0, expected.distance(found), UtilEjml.TEST_F64);
 	}
 
-	@Test void computePointingVector_Homogenous() {
+	@Test void computePointingVector_Homogeneous() {
 		var point = new Point3D_F64(0.5, -2, 31.0);
 		var location = new Point3D_F64(0.5, -0.1, 1.6);
 		var expected = new Vector3D_F64(location, point);
diff --git a/main/boofcv-reconstruction/src/test/java/boofcv/alg/structure/TestInitializeCommonMetric.java b/main/boofcv-reconstruction/src/test/java/boofcv/alg/structure/TestInitializeCommonMetric.java
index 52550df138..9d5f9915ab 100644
--- a/main/boofcv-reconstruction/src/test/java/boofcv/alg/structure/TestInitializeCommonMetric.java
+++ b/main/boofcv-reconstruction/src/test/java/boofcv/alg/structure/TestInitializeCommonMetric.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -84,7 +84,7 @@ void checkReconstruction( InitializeCommonMetric alg,
 							  DogArray_I32 seedConnIdx) {
 
 		final SceneStructureMetric structure = alg.getStructure();
-		assertFalse(structure.isHomogenous(), "Code below assumes cartesian and not homogenous");
+		assertFalse(structure.isHomogeneous(), "Code below assumes cartesian and not homogeneous");
 
 		// Sanity check the number of each type of structure
 		assertEquals(seedConnIdx.size + 1, structure.views.size);
diff --git a/main/boofcv-reconstruction/src/test/java/boofcv/alg/structure/TestRefineMetricWorkingGraph.java b/main/boofcv-reconstruction/src/test/java/boofcv/alg/structure/TestRefineMetricWorkingGraph.java
index 5522cae492..ac95c864d2 100644
--- a/main/boofcv-reconstruction/src/test/java/boofcv/alg/structure/TestRefineMetricWorkingGraph.java
+++ b/main/boofcv-reconstruction/src/test/java/boofcv/alg/structure/TestRefineMetricWorkingGraph.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -263,7 +263,7 @@ void computeReprojectionError() {
 		var normToPixels = new LensDistortionPinhole(intrinsic).distort_F64(false, true);
 		var observed = PerspectiveOps.renderPixel(world_to_vew, intrinsic, X, null);
 		Objects.requireNonNull(observed);
-		// homogenous coordinates are scale invariant
+		// homogeneous coordinates are scale invariant
 		X.scale(-5.0);
 
 		var alg = new RefineMetricWorkingGraph();
diff --git a/main/boofcv-sfm/src/main/java/boofcv/abst/sfm/d3/WrapVisOdomDualTrackPnP.java b/main/boofcv-sfm/src/main/java/boofcv/abst/sfm/d3/WrapVisOdomDualTrackPnP.java
index ab027e24eb..becc8510ae 100644
--- a/main/boofcv-sfm/src/main/java/boofcv/abst/sfm/d3/WrapVisOdomDualTrackPnP.java
+++ b/main/boofcv-sfm/src/main/java/boofcv/abst/sfm/d3/WrapVisOdomDualTrackPnP.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -81,7 +81,7 @@ public WrapVisOdomDualTrackPnP( VisOdomDualTrackPnP<T, ?> visualOdometry,
 	@Override
 	public boolean getTrackWorld3D( int index, Point3D_F64 world ) {
 		VisOdomDualTrackPnP.TrackInfo info = visualOdometry.getVisibleTracks().get(index);
-		PerspectiveOps.homogenousTo3dPositiveZ(info.worldLoc, 1e8, 1e-8, world);
+		PerspectiveOps.homogeneousTo3dPositiveZ(info.worldLoc, 1e8, 1e-8, world);
 		return true;
 	}
 
diff --git a/main/boofcv-sfm/src/main/java/boofcv/alg/mvs/ColorizeCloudFromImage.java b/main/boofcv-sfm/src/main/java/boofcv/alg/mvs/ColorizeCloudFromImage.java
index 05af010f6d..4d29e32977 100644
--- a/main/boofcv-sfm/src/main/java/boofcv/alg/mvs/ColorizeCloudFromImage.java
+++ b/main/boofcv-sfm/src/main/java/boofcv/alg/mvs/ColorizeCloudFromImage.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -99,7 +99,7 @@ public void process3( T image, Iterator<PointIndex3D_F64> cloud, Se3_F64 world_t
 	 * Colorizes all the points in the specified range using the specified image.
 	 *
 	 * @param image (Input) Which image is being considered
-	 * @param cloud (Input) The point cloud in homogenous coordinates
+	 * @param cloud (Input) The point cloud in homogeneous coordinates
 	 * @param idx0 (Input) The first point in the point cloud that's inside this image. Inclusive.
 	 * @param idx1 (Input) The last point in the point cloud that's inside this image. Exclusive.
 	 * @param world_to_view (Input) Transform from world (cloud) into this image/view.
diff --git a/main/boofcv-sfm/src/main/java/boofcv/alg/mvs/ScenePointsSetIterator.java b/main/boofcv-sfm/src/main/java/boofcv/alg/mvs/ScenePointsSetIterator.java
index 5a61d5a6ec..88d4d2506e 100644
--- a/main/boofcv-sfm/src/main/java/boofcv/alg/mvs/ScenePointsSetIterator.java
+++ b/main/boofcv-sfm/src/main/java/boofcv/alg/mvs/ScenePointsSetIterator.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -29,7 +29,7 @@
 
 /**
  * Given a {@link SceneStructureMetric scene}, this will iterate through points in that scene that are inside
- * of a provided array full of indexes. This handles 3D and homogenous points.
+ * of a provided array full of indexes. This handles 3D and homogeneous points.
  *
  * @author Peter Abeles
  */
@@ -49,7 +49,7 @@ public class ScenePointsSetIterator<T extends PointIndex<T, P>, P extends GeoTup
 	 *
 	 * @param scene (Input) The scene which is to be iterated through
 	 * @param indexes (Input) Indexes that specify which features in the scene it should be iterating through
-	 * @param point (Input,Output) Storage for the point. Make sure you get 3D vs homogenous correct.
+	 * @param point (Input,Output) Storage for the point. Make sure you get 3D vs homogeneous correct.
 	 */
 	public ScenePointsSetIterator( SceneStructureCommon scene, DogArray_I32 indexes, T point ) {
 		this(point);
@@ -62,7 +62,7 @@ public ScenePointsSetIterator( SceneStructureCommon scene, DogArray_I32 indexes,
 	 * Re-initializes and can be used to change the scene and set of indexes
 	 */
 	public void initialize( SceneStructureCommon scene, DogArray_I32 indexes ) {
-		if (scene.isHomogenous() != point.p instanceof Point4D_F64)
+		if (scene.isHomogeneous() != point.p instanceof Point4D_F64)
 			throw new IllegalArgumentException("Scene point type does not match provided point type");
 
 		this.scene = scene;
@@ -84,7 +84,7 @@ public void initialize( SceneStructureCommon scene, DogArray_I32 indexes ) {
 	@Override public T next() {
 		// Get the index of the point in this scene
 		int indexScene = indexes.get(index++);
-		if (scene.isHomogenous())
+		if (scene.isHomogeneous())
 			scene.points.get(indexScene).get((Point4D_F64)point.p);
 		else
 			scene.points.get(indexScene).get((Point3D_F64)point.p);
diff --git a/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d2/StitchingFromMotion2D.java b/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d2/StitchingFromMotion2D.java
index 8d792a9f4f..ac5d076afb 100644
--- a/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d2/StitchingFromMotion2D.java
+++ b/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d2/StitchingFromMotion2D.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -93,7 +93,7 @@ public class StitchingFromMotion2D<I extends ImageBase<I>, IT extends Invertible
 	 *
 	 * @param motion Estimates image motion
 	 * @param distorter Applies found transformation to stitch images
-	 * @param converter Converts internal model into a homogenous transformation
+	 * @param converter Converts internal model into a homogeneous transformation
 	 * @param maxJumpFraction If the view area changes by more than this fraction a fault is declared
 	 */
 	public StitchingFromMotion2D( ImageMotion2D<I, IT> motion,
diff --git a/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d3/VisOdomBundlePnPBase.java b/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d3/VisOdomBundlePnPBase.java
index f677393eb5..330a9aaf7e 100644
--- a/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d3/VisOdomBundlePnPBase.java
+++ b/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d3/VisOdomBundlePnPBase.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -169,7 +169,7 @@ protected void triangulateNotSelectedBundleTracks() {
 				// NOTE: This invert could be cached. Doesn't need to be done a million times
 			}
 
-			// NOTE: If there is a homogenous metric triangulation added in the future replace this with that
+			// NOTE: If there is a homogeneous metric triangulation added in the future replace this with that
 			if (triangulateN.triangulate(observationsNorm.toList(), listOf_world_to_frame.toList(), found3D)) {
 				bt.worldLoc.x = found3D.x;
 				bt.worldLoc.y = found3D.y;
diff --git a/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d3/VisOdomDualTrackPnP.java b/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d3/VisOdomDualTrackPnP.java
index e95a4b0e60..d7348a4e67 100644
--- a/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d3/VisOdomDualTrackPnP.java
+++ b/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d3/VisOdomDualTrackPnP.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -176,7 +176,7 @@ public VisOdomDualTrackPnP( double epilolarTol,
 		bundleViso = new VisOdomBundleAdjustment<>(TrackInfo::new);
 
 		// TODO would be best if this reduced pixel error and not geometric error
-		// TODO remove and replace with calibrated homogenous coordinates when it exists
+		// TODO remove and replace with calibrated homogeneous coordinates when it exists
 		ConfigTriangulation config = new ConfigTriangulation();
 		config.type = ConfigTriangulation.Type.GEOMETRIC;
 		config.converge.maxIterations = 10;
@@ -358,7 +358,7 @@ private boolean estimateMotion() {
 
 			// Get the 3D coordinate of the point in the 'previous' frame
 			SePointOps_F64.transform(world_to_prev, bt.worldLoc, prevLoc4);
-			PerspectiveOps.homogenousTo3dPositiveZ(prevLoc4, 1e8, 1e-8, stereo.location);
+			PerspectiveOps.homogeneousTo3dPositiveZ(prevLoc4, 1e8, 1e-8, stereo.location);
 
 			// compute normalized image coordinate for track in left and right image
 			leftCM.pixelToNorm.compute(l.pixel.x, l.pixel.y, stereo.leftObs);
diff --git a/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d3/VisOdomMonoDepthPnP.java b/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d3/VisOdomMonoDepthPnP.java
index 8629a38204..3f27d06a01 100644
--- a/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d3/VisOdomMonoDepthPnP.java
+++ b/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d3/VisOdomMonoDepthPnP.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -110,7 +110,7 @@ public VisOdomMonoDepthPnP( ModelMatcher<Se3_F64, Point2D3D> motionEstimator,
 		this.bundleViso = new VisOdomBundleAdjustment<>(Track::new);
 
 		// TODO would be best if this reduced pixel error and not geometric error
-		// TODO remove and replace with calibrated homogenous coordinates when it exists
+		// TODO remove and replace with calibrated homogeneous coordinates when it exists
 		ConfigTriangulation config = new ConfigTriangulation();
 		config.type = ConfigTriangulation.Type.GEOMETRIC;
 		config.converge.maxIterations = 10;
@@ -423,8 +423,8 @@ private boolean estimateMotion( List<PointTrack> active ) {
 			// Go from world coordinates to the previous frame
 			SePointOps_F64.transform(world_to_prev, bt.worldLoc, prevLoc4);
 
-			// Go from homogenous coordinates into 3D coordinates
-			PerspectiveOps.homogenousTo3dPositiveZ(prevLoc4, 1e8, 1e-7, p.location);
+			// Go from homogeneous coordinates into 3D coordinates
+			PerspectiveOps.homogeneousTo3dPositiveZ(prevLoc4, 1e8, 1e-7, p.location);
 		}
 
 		// estimate the motion up to a scale factor in translation
diff --git a/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d3/VisOdomStereoQuadPnP.java b/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d3/VisOdomStereoQuadPnP.java
index a5dcd3d344..c32cd89cd4 100644
--- a/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d3/VisOdomStereoQuadPnP.java
+++ b/main/boofcv-sfm/src/main/java/boofcv/alg/sfm/d3/VisOdomStereoQuadPnP.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -149,7 +149,7 @@ public class VisOdomStereoQuadPnP<T extends ImageGray<T>, TD extends TupleDesc<T
 	private final Se3_F64 found = new Se3_F64();
 
 	{
-		bundle.structure.setHomogenous(false);
+		bundle.structure.setHomogeneous(false);
 		bundle.configConverge.setTo(new ConfigConverge(1e-5, 1e-5, 4));
 	}
 
diff --git a/main/boofcv-sfm/src/main/java/boofcv/factory/sfm/ConfigBundleUtils.java b/main/boofcv-sfm/src/main/java/boofcv/factory/sfm/ConfigBundleUtils.java
index 3f0cf71ae8..0e70b3e444 100644
--- a/main/boofcv-sfm/src/main/java/boofcv/factory/sfm/ConfigBundleUtils.java
+++ b/main/boofcv-sfm/src/main/java/boofcv/factory/sfm/ConfigBundleUtils.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -35,8 +35,8 @@ public class ConfigBundleUtils implements Configuration {
 	/** Toggles on and off scaling parameters */
 	public boolean scale = false;
 
-	/** Should it use homogenous coordinates for points or 3D Cartesian? */
-	public boolean homogenous = true;
+	/** Should it use homogeneous coordinates for points or 3D Cartesian? */
+	public boolean homogeneous = true;
 
 	/** Optional second pass where outliers observations. Fraction specifies that the best X fraction are kept. */
 	public double keepFraction = 1.0;
@@ -53,7 +53,7 @@ public class ConfigBundleUtils implements Configuration {
 	public ConfigBundleUtils setTo( ConfigBundleUtils src ) {
 		this.converge.setTo(src.converge);
 		this.scale = src.scale;
-		this.homogenous = src.homogenous;
+		this.homogeneous = src.homogeneous;
 		this.keepFraction = src.keepFraction;
 		this.triangulation.setTo(src.triangulation);
 		return this;