Removed whitespaces

modules/calib3d/src/dls.h

@@ -9,61 +9,61 @@ using namespace cv;
 class dls
 {
 public:
-	dls(const cv::Mat& opoints, const cv::Mat& ipoints);
-	~dls();
+    dls(const cv::Mat& opoints, const cv::Mat& ipoints);
+    ~dls();
 
-	bool compute_pose(cv::Mat& R, cv::Mat& t);
+    bool compute_pose(cv::Mat& R, cv::Mat& t);
 
 private:
 
-	// initialisation
-	template <typename OpointType, typename IpointType>
-	void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
-	{
-		for(int i = 0; i < N; i++)
-		{
-			p.at<double>(0,i) = opoints.at<OpointType>(0,i).x;
-			p.at<double>(1,i) = opoints.at<OpointType>(0,i).y;
-			p.at<double>(2,i) = opoints.at<OpointType>(0,i).z;
-
-			z.at<double>(0,i) = ipoints.at<IpointType>(0,i).x;
-			z.at<double>(1,i) = ipoints.at<IpointType>(0,i).y;
-			z.at<double>(2,i) = (double)1;
-		}
-	}
-
-	void norm_z_vector();
-
-	// main algorithm
-	void run_kernel(const cv::Mat& pp);
-	void build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D);
-	void compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Mat& eigenval_imag,
-			                                     cv::Mat& eigenvec_real, cv::Mat& eigenvec_imag);
-	void fill_coeff(const cv::Mat * D);
-
-	// useful functions
-	cv::Mat LeftMultVec(const cv::Mat& v);
-	cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b,
-			            const std::vector<double>& c, const std::vector<double>& u);
-	cv::Mat Hessian(const double s[]);
-	cv::Mat cayley2rotbar(const cv::Mat& s);
-	cv::Mat skewsymm(const cv::Mat * X1);
-
-	// extra functions
-	cv::Mat rotx(const double t);
-	cv::Mat roty(const double t);
-	cv::Mat rotz(const double t);
-	cv::Mat mean(const cv::Mat& M);
-	bool is_empty(const cv::Mat * v);
-	bool positive_eigenvalues(const cv::Mat * eigenvalues);
-
-
-	cv::Mat p, z;		// object-image points
-	int N;				// number of input points
-	std::vector<double> f1coeff, f2coeff, f3coeff, cost_; // coefficient for coefficients matrix
-	std::vector<cv::Mat> C_est_, t_est_;	// optimal candidates
-	cv::Mat C_est__, t_est__;				// optimal found solution
-	double cost__;							// optimal found solution
+    // initialisation
+    template <typename OpointType, typename IpointType>
+    void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
+    {
+        for(int i = 0; i < N; i++)
+        {
+            p.at<double>(0,i) = opoints.at<OpointType>(0,i).x;
+            p.at<double>(1,i) = opoints.at<OpointType>(0,i).y;
+            p.at<double>(2,i) = opoints.at<OpointType>(0,i).z;
+
+            z.at<double>(0,i) = ipoints.at<IpointType>(0,i).x;
+            z.at<double>(1,i) = ipoints.at<IpointType>(0,i).y;
+            z.at<double>(2,i) = (double)1;
+        }
+    }
+
+    void norm_z_vector();
+
+    // main algorithm
+    void run_kernel(const cv::Mat& pp);
+    void build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D);
+    void compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Mat& eigenval_imag,
+                                                 cv::Mat& eigenvec_real, cv::Mat& eigenvec_imag);
+    void fill_coeff(const cv::Mat * D);
+
+    // useful functions
+    cv::Mat LeftMultVec(const cv::Mat& v);
+    cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b,
+                        const std::vector<double>& c, const std::vector<double>& u);
+    cv::Mat Hessian(const double s[]);
+    cv::Mat cayley2rotbar(const cv::Mat& s);
+    cv::Mat skewsymm(const cv::Mat * X1);
+
+    // extra functions
+    cv::Mat rotx(const double t);
+    cv::Mat roty(const double t);
+    cv::Mat rotz(const double t);
+    cv::Mat mean(const cv::Mat& M);
+    bool is_empty(const cv::Mat * v);
+    bool positive_eigenvalues(const cv::Mat * eigenvalues);
+
+
+    cv::Mat p, z;        // object-image points
+    int N;                // number of input points
+    std::vector<double> f1coeff, f2coeff, f3coeff, cost_; // coefficient for coefficients matrix
+    std::vector<cv::Mat> C_est_, t_est_;    // optimal candidates
+    cv::Mat C_est__, t_est__;                // optimal found solution
+    double cost__;                            // optimal found solution
 };
 
 

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt

@@ -2,58 +2,58 @@ cmake_minimum_required(VERSION 2.8)
 project( PNP_DEMO )
 
 ADD_DEFINITIONS(
-    -std=c++11 
+    -std=c++11
     # Other flags
 )
 
 find_package( OpenCV REQUIRED )
 
 include_directories( 
-	${OpenCV_INCLUDE_DIRS} 
+    ${OpenCV_INCLUDE_DIRS} 
 )
 
-add_executable( 
-pnp_registration 
-	src/main_registration.cpp
-	src/CsvReader.cpp 
-	src/CsvWriter.cpp
-	src/ModelRegistration.cpp
-	src/Mesh.cpp
-	src/Model.cpp
-	src/PnPProblem.cpp
-	src/Utils.cpp
-	src/RobustMatcher.cpp
+add_executable(
+pnp_registration
+    src/main_registration.cpp
+    src/CsvReader.cpp
+    src/CsvWriter.cpp
+    src/ModelRegistration.cpp
+    src/Mesh.cpp
+    src/Model.cpp
+    src/PnPProblem.cpp
+    src/Utils.cpp
+    src/RobustMatcher.cpp
 )
 
-add_executable( 
-pnp_verification 
-	src/main_verification.cpp
-	src/CsvReader.cpp 
-	src/CsvWriter.cpp
-	src/ModelRegistration.cpp
-	src/Mesh.cpp
-	src/Model.cpp
-	src/PnPProblem.cpp
-	src/Utils.cpp
-	src/RobustMatcher.cpp
+add_executable(
+pnp_verification
+    src/main_verification.cpp
+    src/CsvReader.cpp
+    src/CsvWriter.cpp
+    src/ModelRegistration.cpp
+    src/Mesh.cpp
+    src/Model.cpp
+    src/PnPProblem.cpp
+    src/Utils.cpp
+    src/RobustMatcher.cpp
 )
 
-add_executable( 
+add_executable(
 pnp_detection 
-	src/main_detection.cpp
-	src/CsvReader.cpp 
-	src/CsvWriter.cpp
-	src/ModelRegistration.cpp
-	src/Mesh.cpp
-	src/Model.cpp
-	src/PnPProblem.cpp
-	src/Utils.cpp
-	src/RobustMatcher.cpp
+    src/main_detection.cpp
+    src/CsvReader.cpp 
+    src/CsvWriter.cpp
+    src/ModelRegistration.cpp
+    src/Mesh.cpp
+    src/Model.cpp
+    src/PnPProblem.cpp
+    src/Utils.cpp
+    src/RobustMatcher.cpp
 )
 
-add_executable( 
-pnp_test 
-	src/test_pnp.cpp
+add_executable(
+pnp_test
+    src/test_pnp.cpp
 )
 
 target_link_libraries( pnp_registration ${OpenCV_LIBS} )