removed trailing spaces

doc/tutorials/viz/creating_widgets/creating_widgets.rst

@@ -21,7 +21,7 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
 .. code-block:: cpp
 
     #include <opencv2/viz.hpp>
-    #include <opencv2/viz/widget_accessor.hpp> 
+    #include <opencv2/viz/widget_accessor.hpp>
     #include <iostream>
 
     #include <vtkPoints.h>
@@ -43,7 +43,7 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
     class WTriangle : public viz::Widget3D
     {
         public:
-            WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white()); 
+            WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
     };
 
     /**
@@ -56,22 +56,22 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
         points->InsertNextPoint(pt1.x, pt1.y, pt1.z);
         points->InsertNextPoint(pt2.x, pt2.y, pt2.z);
         points->InsertNextPoint(pt3.x, pt3.y, pt3.z);
-        
+
         vtkSmartPointer<vtkTriangle> triangle = vtkSmartPointer<vtkTriangle>::New();
         triangle->GetPointIds()->SetId(0,0);
         triangle->GetPointIds()->SetId(1,1);
         triangle->GetPointIds()->SetId(2,2);
-        
+
         vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
         cells->InsertNextCell(triangle);
-        
+
         // Create a polydata object
         vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
-        
+
         // Add the geometry and topology to the polydata
         polyData->SetPoints(points);
         polyData->SetPolys(cells);
-        
+
         // Create mapper and actor
         vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
     #if VTK_MAJOR_VERSION <= 5
@@ -79,13 +79,13 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
     #else
         mapper->SetInputData(polyData);
     #endif
-        
+
         vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
         actor->SetMapper(mapper);
-        
+
         // Store this actor in the widget in order that visualizer can access it
         viz::WidgetAccessor::setProp(*this, actor);
-        
+
         // Set the color of the widget. This has to be called after WidgetAccessor.
         setColor(color);
     }
@@ -94,22 +94,22 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
      * @function main
      */
     int main()
-    {        
+    {
         /// Create a window
         viz::Viz3d myWindow("Creating Widgets");
-        
+
         /// Create a triangle widget
         WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
-        
+
         /// Show widget in the visualizer window
         myWindow.showWidget("TRIANGLE", tw);
-        
+
         /// Start event loop
         myWindow.spin();
-        
+
         return 0;
     }
-    
+
 Explanation
 ===========
 
@@ -122,33 +122,33 @@ Here is the general structure of the program:
     class WTriangle : public viz::Widget3D
     {
         public:
-            WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white()); 
+            WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
     };
-    
+
 * Assign a VTK actor to the widget.
 
 .. code-block:: cpp
 
     // Store this actor in the widget in order that visualizer can access it
     viz::WidgetAccessor::setProp(*this, actor);
-    
+
 * Set color of the widget.
 
 .. code-block:: cpp
 
     // Set the color of the widget. This has to be called after WidgetAccessor.
     setColor(color);
-    
+
 * Construct a triangle widget and display it in the window.
 
 .. code-block:: cpp
 
     /// Create a triangle widget
     WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
-    
+
     /// Show widget in the visualizer window
     myWindow.showWidget("TRIANGLE", tw);
-    
+
 Results
 =======
 

doc/tutorials/viz/launching_viz/launching_viz.rst

@@ -27,7 +27,7 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
 
     using namespace cv;
     using namespace std;
-  
+
     /**
     * @function main
     */
@@ -35,38 +35,38 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
     {
         /// Create a window
         viz::Viz3d myWindow("Viz Demo");
-        
+
         /// Start event loop
         myWindow.spin();
-        
+
         /// Event loop is over when pressed q, Q, e, E
         cout << "First event loop is over" << endl;
-        
+
         /// Access window via its name
         viz::Viz3d sameWindow = viz::get("Viz Demo");
-        
+
         /// Start event loop
         sameWindow.spin();
-        
+
         /// Event loop is over when pressed q, Q, e, E
         cout << "Second event loop is over" << endl;
-        
+
         /// Event loop is over when pressed q, Q, e, E
         /// Start event loop once for 1 millisecond
         sameWindow.spinOnce(1, true);
         while(!sameWindow.wasStopped())
         {
             /// Interact with window
-            
+
             /// Event loop for 1 millisecond
             sameWindow.spinOnce(1, true);
         }
-        
+
         /// Once more event loop is stopped
         cout << "Last event loop is over" << endl;
         return 0;
     }
-    
+
 Explanation
 ===========
 
@@ -78,21 +78,21 @@ Here is the general structure of the program:
 
     /// Create a window
     viz::Viz3d myWindow("Viz Demo");
-    
+
 * Start event loop. This event loop will run until user terminates it by pressing **e**, **E**, **q**, **Q**.
 
 .. code-block:: cpp
 
     /// Start event loop
     myWindow.spin();
-    
+
 * Access same window via its name. Since windows are implicitly shared, **sameWindow** is exactly the same with **myWindow**. If the name does not exist, a new window is created.
 
 .. code-block:: cpp
 
     /// Access window via its name
     viz::Viz3d sameWindow = viz::get("Viz Demo");
-    
+
 * Start a controlled event loop. Once it starts, **wasStopped** is set to false. Inside the while loop, in each iteration, **spinOnce** is called to prevent event loop from completely stopping. Inside the while loop, user can execute other statements including those which interact with the window.
 
 .. code-block:: cpp
@@ -103,11 +103,11 @@ Here is the general structure of the program:
     while(!sameWindow.wasStopped())
     {
         /// Interact with window
-        
+
         /// Event loop for 1 millisecond
         sameWindow.spinOnce(1, true);
     }
-    
+
 Results
 =======
 

doc/tutorials/viz/transformations/transformations.rst

@@ -45,7 +45,7 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
         float dummy1, dummy2;
         for(size_t i = 0; i < 1889; ++i)
             ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2;
-        
+
         cloud *= 5.0f;
         return cloud;
     }
@@ -54,40 +54,40 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
      * @function main
      */
     int main(int argn, char **argv)
-    {        
+    {
         if (argn < 2)
         {
             cout << "Usage: " << endl << "./transformations [ G | C ]" << endl;
             return 1;
         }
-        
+
         bool camera_pov = (argv[1][0] == 'C');
-        
+
         /// Create a window
         viz::Viz3d myWindow("Coordinate Frame");
-        
+
         /// Add coordinate axes
         myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
-        
+
         /// Let's assume camera has the following properties
         Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
-        
+
         /// We can get the pose of the cam using makeCameraPose
         Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
-        
+
         /// We can get the transformation matrix from camera coordinate system to global using
         /// - makeTransformToGlobal. We need the axes of the camera
         Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
-        
+
         /// Create a cloud widget.
         Mat bunny_cloud = cvcloud_load();
         viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
-        
+
         /// Pose of the widget in camera frame
         Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
         /// Pose of the widget in global frame
         Affine3f cloud_pose_global = transform * cloud_pose;
-        
+
         /// Visualize camera frame
         if (!camera_pov)
         {
@@ -96,21 +96,21 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
             myWindow.showWidget("CPW", cpw, cam_pose);
             myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
         }
-        
+
         /// Visualize widget
         myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
-        
+
         /// Set the viewer pose to that of camera
         if (camera_pov)
             myWindow.setViewerPose(cam_pose);
-        
+
         /// Start event loop.
         myWindow.spin();
-        
+
         return 0;
     }
 
-    
+
 Explanation
 ===========
 
@@ -122,17 +122,17 @@ Here is the general structure of the program:
 
     /// Create a window
     viz::Viz3d myWindow("Transformations");
-    
+
 * Get camera pose from camera position, camera focal point and y direction.
 
 .. code-block:: cpp
 
     /// Let's assume camera has the following properties
     Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
-        
+
     /// We can get the pose of the cam using makeCameraPose
     Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
-    
+
 * Obtain transform matrix knowing the axes of camera coordinate system.
 
 .. code-block:: cpp
@@ -140,7 +140,7 @@ Here is the general structure of the program:
     /// We can get the transformation matrix from camera coordinate system to global using
     /// - makeTransformToGlobal. We need the axes of the camera
     Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
-    
+
 * Create a cloud widget from bunny.ply file
 
 .. code-block:: cpp
@@ -148,16 +148,16 @@ Here is the general structure of the program:
     /// Create a cloud widget.
     Mat bunny_cloud = cvcloud_load();
     viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
-    
+
 * Given the pose in camera coordinate system, estimate the global pose.
-    
+
 .. code-block:: cpp
 
     /// Pose of the widget in camera frame
     Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
     /// Pose of the widget in global frame
     Affine3f cloud_pose_global = transform * cloud_pose;
-    
+
 * If the view point is set to be global, visualize camera coordinate frame and viewing frustum.
 
 .. code-block:: cpp
@@ -170,22 +170,22 @@ Here is the general structure of the program:
         myWindow.showWidget("CPW", cpw, cam_pose);
         myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
     }
-    
+
 * Visualize the cloud widget with the estimated global pose
-    
+
 .. code-block:: cpp
 
     /// Visualize widget
     myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
-    
+
 * If the view point is set to be camera's, set viewer pose to **cam_pose**.
-    
+
 .. code-block:: cpp
 
     /// Set the viewer pose to that of camera
     if (camera_pov)
         myWindow.setViewerPose(cam_pose);
-        
+
 Results
 =======
 

doc/tutorials/viz/widget_pose/widget_pose.rst

@@ -35,22 +35,22 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
     {
         /// Create a window
         viz::Viz3d myWindow("Coordinate Frame");
-        
+
         /// Add coordinate axes
         myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
-        
+
         /// Add line to represent (1,1,1) axis
         viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
         axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
         myWindow.showWidget("Line Widget", axis);
-        
+
         /// Construct a cube widget
         viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
         cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
-            
+
         /// Display widget (update if already displayed)
-        myWindow.showWidget("Cube Widget", cube_widget); 
-        
+        myWindow.showWidget("Cube Widget", cube_widget);
+
         /// Rodrigues vector
         Mat rot_vec = Mat::zeros(1,3,CV_32F);
         float translation_phase = 0.0, translation = 0.0;
@@ -61,25 +61,25 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
             rot_vec.at<float>(0,0) += CV_PI * 0.01f;
             rot_vec.at<float>(0,1) += CV_PI * 0.01f;
             rot_vec.at<float>(0,2) += CV_PI * 0.01f;
-            
+
             /// Shift on (1,1,1)
             translation_phase += CV_PI * 0.01f;
             translation = sin(translation_phase);
-            
+
             Mat rot_mat;
-            Rodrigues(rot_vec, rot_mat); 
-            
+            Rodrigues(rot_vec, rot_mat);
+
             /// Construct pose
             Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
-            
+
             myWindow.setWidgetPose("Cube Widget", pose);
-            
+
             myWindow.spinOnce(1, true);
         }
-        
+
         return 0;
     }
-    
+
 Explanation
 ===========
 
@@ -91,14 +91,14 @@ Here is the general structure of the program:
 
     /// Create a window
     viz::Viz3d myWindow("Coordinate Frame");
-    
+
 * Show coordinate axes in the window using CoordinateSystemWidget.
 
 .. code-block:: cpp
 
     /// Add coordinate axes
     myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
-    
+
 * Display a line representing the axis (1,1,1).
 
 .. code-block:: cpp
@@ -107,7 +107,7 @@ Here is the general structure of the program:
     viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
     axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
     myWindow.showWidget("Line Widget", axis);
-    
+
 * Construct a cube.
 
 .. code-block:: cpp
@@ -115,8 +115,8 @@ Here is the general structure of the program:
     /// Construct a cube widget
     viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
     cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
-    myWindow.showWidget("Cube Widget", cube_widget); 
-    
+    myWindow.showWidget("Cube Widget", cube_widget);
+
 * Create rotation matrix from rodrigues vector
 
 .. code-block:: cpp
@@ -125,20 +125,20 @@ Here is the general structure of the program:
     rot_vec.at<float>(0,0) += CV_PI * 0.01f;
     rot_vec.at<float>(0,1) += CV_PI * 0.01f;
     rot_vec.at<float>(0,2) += CV_PI * 0.01f;
-    
+
     ...
-    
+
     Mat rot_mat;
-    Rodrigues(rot_vec, rot_mat); 
+    Rodrigues(rot_vec, rot_mat);
 
-* Use Affine3f to set pose of the cube.    
+* Use Affine3f to set pose of the cube.
 
 .. code-block:: cpp
-    
+
     /// Construct pose
     Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
     myWindow.setWidgetPose("Cube Widget", pose);
-    
+
 * Animate the rotation using wasStopped and spinOnce
 
 .. code-block:: cpp
@@ -146,10 +146,10 @@ Here is the general structure of the program:
     while(!myWindow.wasStopped())
     {
         ...
-        
+
         myWindow.spinOnce(1, true);
     }
-    
+
 Results
 =======
 

modules/viz/CMakeLists.txt

@@ -3,7 +3,7 @@ macro(find_qvtk)
   find_path (QVTK_INCLUDE_DIR QVTKWidget.h HINT ${VTK_INCLUDE_DIRS})
   find_package_handle_standard_args(QVTK DEFAULT_MSG QVTK_LIBRARY QVTK_INCLUDE_DIR)
 
-  if(QVTK_FOUND)   
+  if(QVTK_FOUND)
     get_filename_component (QVTK_LIBRARY_DIR ${QVTK_LIBRARY} PATH)
     list(APPEND VTK_LIBRARY_DIRS ${QVTK_LIBRARY_DIR})
     list(APPEND VTK_INCLUDE_DIRS ${QVTK_INCLUDE_DIR})
@@ -22,7 +22,7 @@ macro(find_vtk)
       message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, lib: ${VTK_LIBRARY_DIRS})")
       link_directories(${VTK_LIBRARY_DIRS})
       include_directories(SYSTEM ${VTK_INCLUDE_DIRS})
-      set(HAVE_VTK ON)    
+      set(HAVE_VTK ON)
     else ()
       set(HAVE_VTK OFF)
       message (FATAL_ERROR "VTK disabled. You are to build OpenCV in STATIC but VTK is SHARED!")
@@ -39,7 +39,7 @@ if(DEFINED HAVE_VTK AND HAVE_VTK)
   include (${VTK_USE_FILE})
   add_definitions(-DHAVE_VTK)
 endif()
-  
+
 set(the_description "Viz")
 set(BUILD_opencv_viz_INIT OFF)
 include_directories(src)

modules/viz/doc/viz.rst

@@ -4,6 +4,6 @@ viz. 3D Visualizer
 
 .. toctree::
 	:maxdepth: 2
-	
+
 	viz3d.rst
 	widget.rst

modules/viz/include/opencv2/viz.hpp

@@ -56,7 +56,7 @@
 namespace cv
 {
     namespace viz
-    {   
+    {
         //! takes coordiante frame data and builds transfrom to global coordinate frame
         CV_EXPORTS Affine3f makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin = Vec3f::all(0));
 
@@ -87,32 +87,32 @@ namespace cv
         //! checks point for Nans
         template<typename _Tp> inline bool isNan(const Point3_<_Tp>& p)
         { return isNan(p.x) || isNan(p.y) || isNan(p.z); }
-        
+
         //! helper class that provides access by name infrastructure
         class CV_EXPORTS VizAccessor
         {
         public:
             static VizAccessor & getInstance();
             static void release();
-            
+
             Viz3d get(const String &window_name);
-            
+
             //! window names automatically have Viz - prefix even though not provided by the users
             static void generateWindowName(const String &window_name, String &output);
-            
+
         private:
             VizAccessor(); // Singleton
             ~VizAccessor();
-            
+
             void add(Viz3d window);
             void remove(const String &window_name);
-            
+
             static VizAccessor * instance_;
             static bool is_instantiated_;
-            
+
             struct VizAccessorImpl;
             static VizAccessorImpl * impl_;
-            
+
             friend class Viz3d;
         };
     } /* namespace viz */

modules/viz/include/opencv2/viz/types.hpp

@@ -88,7 +88,7 @@ namespace cv
 
             //! Loads mesh from a given ply file
             static cv::viz::Mesh3d loadMesh(const String& file);
-            
+
         private:
             struct loadMeshImpl;
         };
@@ -135,7 +135,7 @@ namespace cv
             Point pointer;
             unsigned int key_state;
         };
-        
+
         class CV_EXPORTS Camera
         {
         public:
@@ -143,26 +143,26 @@ namespace cv
             Camera(const Vec2f &fov, const Size &window_size);
             Camera(const cv::Matx33f &K, const Size &window_size);
             Camera(const cv::Matx44f &proj, const Size &window_size);
-            
+
             inline const Vec2d & getClip() const { return clip_; }
             inline void setClip(const Vec2d &clip) { clip_ = clip; }
-            
+
             inline const Size & getWindowSize() const { return window_size_; }
             void setWindowSize(const Size &window_size);
-            
+
             inline const Vec2f & getFov() const { return fov_; }
             inline void setFov(const Vec2f & fov) { fov_ = fov; }
-            
+
             inline const Vec2f & getPrincipalPoint() const { return principal_point_; }
             inline const Vec2f & getFocalLength() const { return focal_; }
-            
+
             void computeProjectionMatrix(Matx44f &proj) const;
-            
+
             static Camera KinectCamera(const Size &window_size);
-            
+
         private:
             void init(float f_x, float f_y, float c_x, float c_y, const Size &window_size);
-            
+
             Vec2d clip_;
             Vec2f fov_;
             Size window_size_;

modules/viz/include/opencv2/viz/viz3d.hpp

@@ -81,18 +81,18 @@ namespace cv
             void setWidgetPose(const String &id, const Affine3f &pose);
             void updateWidgetPose(const String &id, const Affine3f &pose);
             Affine3f getWidgetPose(const String &id) const;
-            
+
             void setCamera(const Camera &camera);
             Camera getCamera() const;
             Affine3f getViewerPose();
             void setViewerPose(const Affine3f &pose);
-            
+
             void resetCameraViewpoint(const String &id);
             void resetCamera();
-            
+
             void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
             void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
-            
+
             Size getWindowSize() const;
             void setWindowSize(const Size &window_size);
             String getWindowName() const;
@@ -107,19 +107,19 @@ namespace cv
 
             void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
             void registerMouseCallback(MouseCallback callback, void* cookie = 0);
-            
+
             void setRenderingProperty(const String &id, int property, double value);
             double getRenderingProperty(const String &id, int property);
-            
+
             void setDesiredUpdateRate(double rate);
             double getDesiredUpdateRate();
-            
+
             void setRepresentation(int representation);
         private:
 
             struct VizImpl;
             VizImpl* impl_;
-            
+
             void create(const String &window_name);
             void release();
         };

modules/viz/include/opencv2/viz/widgets.hpp

@@ -81,7 +81,7 @@ namespace cv
             SHADING_GOURAUD,
             SHADING_PHONG
         };
-        
+
         /////////////////////////////////////////////////////////////////////////////
         /// The base class for all widgets
         class CV_EXPORTS Widget
@@ -91,10 +91,10 @@ namespace cv
             Widget(const Widget& other);
             Widget& operator=(const Widget& other);
             ~Widget();
-            
+
             //! Create a widget directly from ply file
             static Widget fromPlyFile(const String &file_name);
-            
+
             //! Rendering properties of this particular widget
             void setRenderingProperty(int property, double value);
             double getRenderingProperty(int property) const;
@@ -201,10 +201,10 @@ namespace cv
             WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
             //! Creates grid based on the plane equation
             WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
-            
+
         private:
             struct GridImpl;
-        
+
         };
 
         class CV_EXPORTS WText3D : public Widget3D
@@ -224,15 +224,15 @@ namespace cv
             void setText(const String &text);
             String getText() const;
         };
-        
+
         class CV_EXPORTS WImageOverlay : public Widget2D
         {
         public:
             WImageOverlay(const Mat &image, const Rect &rect);
-            
+
             void setImage(const Mat &image);
         };
-        
+
         class CV_EXPORTS WImage3D : public Widget3D
         {
         public:
@@ -240,10 +240,10 @@ namespace cv
             WImage3D(const Mat &image, const Size &size);
             //! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation
             WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
-            
+
             void setImage(const Mat &image);
         };
-        
+
         class CV_EXPORTS WCameraPosition : public Widget3D
         {
         public:
@@ -257,27 +257,27 @@ namespace cv
             WCameraPosition(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
             //! Creates frustum and display given image at the far plane
             WCameraPosition(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white());
-            
+
         private:
             struct ProjectImage;
         };
-        
+
         class CV_EXPORTS WTrajectory : public Widget3D
         {
         public:
             enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
-            
+
             //! Displays trajectory of the given path either by coordinate frames or polyline
             WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
             //! Displays trajectory of the given path by frustums
             WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
             //! Displays trajectory of the given path by frustums
             WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
-            
+
         private:
             struct ApplyPath;
         };
-        
+
         class CV_EXPORTS WSpheresTrajectory: public Widget3D
         {
         public:
@@ -301,16 +301,16 @@ namespace cv
         {
         public:
             WCloudCollection();
-            
+
             //! Each point in cloud is mapped to a color in colors
             void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity());
             //! All points in cloud have the same color
             void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3f &pose = Affine3f::Identity());
-            
+
         private:
             struct CreateCloudWidget;
         };
-        
+
         class CV_EXPORTS WCloudNormals : public Widget3D
         {
         public:
@@ -319,12 +319,12 @@ namespace cv
         private:
             struct ApplyCloudNormals;
         };
-        
+
         class CV_EXPORTS WMesh : public Widget3D
         {
         public:
             WMesh(const Mesh3d &mesh);
-            
+
         private:
             struct CopyImpl;
         };

modules/viz/src/cloud_widgets.cpp

@@ -327,7 +327,7 @@ struct cv::viz::WCloudCollection::CreateCloudWidget
         vertices->SetCells(nr_points, cells);
         return polydata;
     }
-    
+
     static void createMapper(vtkSmartPointer<vtkLODActor> actor, vtkSmartPointer<vtkPolyData> poly_data, Vec3d& minmax)
     {
         vtkDataSetMapper *mapper = vtkDataSetMapper::SafeDownCast(actor->GetMapper());
@@ -349,17 +349,17 @@ struct cv::viz::WCloudCollection::CreateCloudWidget
             mapper_new->SetInterpolateScalarsBeforeMapping(interpolation);
             mapper_new->ScalarVisibilityOn();
             mapper_new->ImmediateModeRenderingOff();
-            
+
             actor->SetNumberOfCloudPoints(int(std::max<vtkIdType>(1, poly_data->GetNumberOfPoints() / 10)));
             actor->GetProperty()->SetInterpolationToFlat();
             actor->GetProperty()->BackfaceCullingOn();
             actor->SetMapper(mapper_new);
             return ;
         }
-        
+
         vtkPolyData *data = vtkPolyData::SafeDownCast(mapper->GetInput());
         CV_Assert("Cloud Widget without data" && data);
-        
+
         vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
 #if VTK_MAJOR_VERSION <= 5
         appendFilter->AddInputConnection(mapper->GetInput()->GetProducerPort());
@@ -369,7 +369,7 @@ struct cv::viz::WCloudCollection::CreateCloudWidget
         appendFilter->AddInputData(poly_data);
 #endif
         mapper->SetInputConnection(appendFilter->GetOutputPort());
-        
+
         // Update the number of cloud points
         vtkIdType old_cloud_points = actor->GetNumberOfCloudPoints();
         actor->SetNumberOfCloudPoints(int(std::max<vtkIdType>(1, old_cloud_points+poly_data->GetNumberOfPoints() / 10)));
@@ -389,7 +389,7 @@ void cv::viz::WCloudCollection::addCloud(InputArray _cloud, InputArray _colors,
     Mat colors = _colors.getMat();
     CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
     CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size());
-    
+
     if (cloud.isContinuous() && colors.isContinuous())
     {
         cloud.reshape(cloud.channels(), 1);
@@ -410,12 +410,12 @@ void cv::viz::WCloudCollection::addCloud(InputArray _cloud, InputArray _colors,
 
     // Assign the colors
     polydata->GetPointData()->SetScalars(scalars);
-    
+
     // Transform the poly data based on the pose
     vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
     transform->PreMultiply();
     transform->SetMatrix(convertToVtkMatrix(pose.matrix));
-    
+
     vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
     transform_filter->SetTransform(transform);
 #if VTK_MAJOR_VERSION <= 5
@@ -424,10 +424,10 @@ void cv::viz::WCloudCollection::addCloud(InputArray _cloud, InputArray _colors,
     transform_filter->SetInputData(polydata);
 #endif
     transform_filter->Update();
-    
+
     vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
     CV_Assert("Incompatible widget type." && actor);
-    
+
     Vec3d minmax(scalars->GetRange());
     CreateCloudWidget::createMapper(actor, transform_filter->GetOutput(), minmax);
 }
@@ -449,12 +449,12 @@ void cv::viz::WCloudCollection::addCloud(InputArray _cloud, const Color &color,
 
     // Assign the colors
     polydata->GetPointData()->SetScalars(scalars);
-    
+
     // Transform the poly data based on the pose
     vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
     transform->PreMultiply();
     transform->SetMatrix(convertToVtkMatrix(pose.matrix));
-    
+
     vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
     transform_filter->SetTransform(transform);
 #if VTK_MAJOR_VERSION <= 5
@@ -463,10 +463,10 @@ void cv::viz::WCloudCollection::addCloud(InputArray _cloud, const Color &color,
     transform_filter->SetInputData(polydata);
 #endif
     transform_filter->Update();
-    
+
     vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
     CV_Assert("Incompatible widget type." && actor);
-    
+
     Vec3d minmax(scalars->GetRange());
     CreateCloudWidget::createMapper(actor, transform_filter->GetOutput(), minmax);
 }
@@ -634,7 +634,7 @@ struct cv::viz::WMesh::CopyImpl
         int index = 0;
         const _Tp* srow = source.ptr<_Tp>(0);
         const _Tp* mrow = nan_mask.ptr<_Tp>(0);
-        
+
         for (int x = 0; x < source.cols; ++x, srow += s_chs, mrow += m_chs)
         {
             if (!isNan(mrow[0]) && !isNan(mrow[1]) && !isNan(mrow[2]))
@@ -653,13 +653,13 @@ cv::viz::WMesh::WMesh(const Mesh3d &mesh)
     CV_Assert(mesh.cloud.rows == 1 && (mesh.cloud.type() == CV_32FC3 || mesh.cloud.type() == CV_64FC3 || mesh.cloud.type() == CV_32FC4 || mesh.cloud.type() == CV_64FC4));
     CV_Assert(mesh.colors.empty() || (mesh.colors.type() == CV_8UC3 && mesh.cloud.size() == mesh.colors.size()));
     CV_Assert(!mesh.polygons.empty() && mesh.polygons.type() == CV_32SC1);
-    
+
     vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
     vtkIdType nr_points = mesh.cloud.total();
     Mat look_up_mat(1, nr_points, CV_32SC1);
     int * look_up = look_up_mat.ptr<int>();
     points->SetNumberOfPoints(nr_points);
-      
+
     // Copy data from cloud to vtkPoints
     if (mesh.cloud.depth() == CV_32F)
     {
@@ -675,36 +675,36 @@ cv::viz::WMesh::WMesh(const Mesh3d &mesh)
         Vec3d *data_end = CopyImpl::copy(mesh.cloud, data_beg, look_up, mesh.cloud);
         nr_points = data_end - data_beg;
     }
-    
+
     vtkSmartPointer<vtkUnsignedCharArray> scalars;
-    
+
     if (!mesh.colors.empty())
     {
         Vec3b * colors_data = 0;
         colors_data = new Vec3b[nr_points];
         NanFilter::copyColor(mesh.colors, colors_data, mesh.cloud);
-        
+
         scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
         scalars->SetNumberOfComponents(3);
         scalars->SetNumberOfTuples(nr_points);
         scalars->SetArray(colors_data->val, 3 * nr_points, 0);
     }
-    
+
     points->SetNumberOfPoints(nr_points);
-    
+
     vtkSmartPointer<vtkPointSet> data;
-    
+
     if (mesh.polygons.size().area() > 1)
     {
         vtkSmartPointer<vtkCellArray> cell_array = vtkSmartPointer<vtkCellArray>::New();
         const int * polygons = mesh.polygons.ptr<int>();
-        
+
         int idx = 0;
         int poly_size = mesh.polygons.total();
         for (int i = 0; i < poly_size; ++idx)
         {
             int n_points = polygons[i++];
-            
+
             cell_array->InsertNextCell(n_points);
             for (int j = 0; j < n_points; ++j, ++idx)
                 cell_array->InsertCellPoint(look_up[polygons[i++]]);
@@ -717,7 +717,7 @@ cv::viz::WMesh::WMesh(const Mesh3d &mesh)
 
         if (scalars)
             polydata->GetPointData()->SetScalars(scalars);
-        
+
         data = polydata;
     }
     else
@@ -726,20 +726,20 @@ cv::viz::WMesh::WMesh(const Mesh3d &mesh)
         vtkSmartPointer<vtkPolygon> polygon = vtkSmartPointer<vtkPolygon>::New();
         const int * polygons = mesh.polygons.ptr<int>();
         int n_points = polygons[0];
-        
+
         polygon->GetPointIds()->SetNumberOfIds(n_points);
-        
+
         for (int j = 1; j < n_points+1; ++j)
             polygon->GetPointIds()->SetId(j, look_up[polygons[j]]);
-        
+
         vtkSmartPointer<vtkUnstructuredGrid> poly_grid = vtkSmartPointer<vtkUnstructuredGrid>::New();
         poly_grid->Allocate(1, 1);
         poly_grid->InsertNextCell(polygon->GetCellType(), polygon->GetPointIds());
         poly_grid->SetPoints(points);
-        
+
         if (scalars)
             poly_grid->GetPointData()->SetScalars(scalars);
-        
+
         data = poly_grid;
     }
 
@@ -750,7 +750,7 @@ cv::viz::WMesh::WMesh(const Mesh3d &mesh)
     actor->GetProperty()->SetInterpolationToFlat();
     actor->GetProperty()->EdgeVisibilityOff();
     actor->GetProperty()->ShadingOff();
-    
+
     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
 #if VTK_MAJOR_VERSION <= 5
     mapper->SetInput(data);
@@ -758,11 +758,11 @@ cv::viz::WMesh::WMesh(const Mesh3d &mesh)
     mapper->SetInputData(data);
 #endif
     mapper->ImmediateModeRenderingOff();
-    
+
     vtkIdType numberOfCloudPoints = nr_points * 0.1;
     actor->SetNumberOfCloudPoints(int(numberOfCloudPoints > 1 ? numberOfCloudPoints : 1));
     actor->SetMapper(mapper);
-    
+
     WidgetAccessor::setProp(*this, actor);
 }
 

modules/viz/src/interactor_style.cpp

@@ -67,11 +67,11 @@ void cv::viz::InteractorStyle::Initialize()
 
     init_ = true;
     stereo_anaglyph_mask_default_ = true;
-    
+
     // Initialize the keyboard event callback as none
     keyboardCallback_ = 0;
     keyboard_callback_cookie_ = 0;
-    
+
     // Initialize the mouse event callback as none
     mouseCallback_ = 0;
     mouse_callback_cookie_ = 0;
@@ -197,7 +197,7 @@ void cv::viz::InteractorStyle::registerKeyboardCallback(void (*callback)(const K
 void
 cv::viz::InteractorStyle::OnKeyDown()
 {
-    
+
     CV_Assert("Interactor style not initialized. Please call Initialize() before continuing" && init_);
     CV_Assert("No renderer given! Use SetRendererCollection() before continuing." && renderer_);
 
@@ -482,7 +482,7 @@ cv::viz::InteractorStyle::OnKeyDown()
         {
             if (it == widget_actor_map_->end())
                 it = widget_actor_map_->begin();
-            
+
             vtkProp3D * actor = vtkProp3D::SafeDownCast(it->second);
             if (actor && actor->GetUserMatrix())
             {
@@ -554,7 +554,7 @@ void cv::viz::InteractorStyle::OnKeyUp()
     // Check if there is a keyboard callback registered
     if (keyboardCallback_)
       keyboardCallback_(event, keyboard_callback_cookie_);
-    
+
     Superclass::OnKeyUp();
 }
 
@@ -673,10 +673,10 @@ void cv::viz::InteractorStyle::OnMouseWheelBackward()
     // If a mouse callback registered, call it!
     if (mouseCallback_)
       mouseCallback_(event, mouse_callback_cookie_);
-    
+
     if (Interactor->GetRepeatCount() && mouseCallback_)
       mouseCallback_(event, mouse_callback_cookie_);
-      
+
     if (Interactor->GetAltKey())
     {
         // zoom

modules/viz/src/interactor_style.h

@@ -85,7 +85,7 @@ namespace cv
 
             /** \brief Change the default keyboard modified from ALT to a different special key.*/
             inline void setKeyboardModifier(const KeyboardModifier &modifier) { modifier_ = modifier; }
-            
+
         protected:
             /** \brief Set to true after initialization is complete. */
             bool init_;
@@ -95,7 +95,7 @@ namespace cv
 
             /** \brief Actor map stored internally. */
             cv::Ptr<WidgetActorMap> widget_actor_map_;
-            
+
             /** \brief The current window width/height. */
             Vec2i win_size_;
 
@@ -107,7 +107,7 @@ namespace cv
 
             /** \brief A PNG writer for screenshot captures. */
             vtkSmartPointer<vtkPNGWriter> snapshot_writer_;
-            
+
             /** \brief Internal window to image filter. Needed by \a snapshot_writer_. */
             vtkSmartPointer<vtkWindowToImageFilter> wif_;
 

modules/viz/src/types.cpp

@@ -120,10 +120,10 @@ struct cv::viz::Mesh3d::loadMeshImpl
         vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
         reader->SetFileName(file.c_str());
         reader->Update();
-        
+
         vtkSmartPointer<vtkPolyData> poly_data = reader->GetOutput();
         CV_Assert("File does not exist or file format is not supported." && poly_data);
-        
+
         vtkSmartPointer<vtkPoints> mesh_points = poly_data->GetPoints();
         vtkIdType nr_points = mesh_points->GetNumberOfPoints();
 
@@ -141,7 +141,7 @@ struct cv::viz::Mesh3d::loadMeshImpl
         vtkUnsignedCharArray* poly_colors = 0;
         if (poly_data->GetPointData())
             poly_colors = vtkUnsignedCharArray::SafeDownCast(poly_data->GetPointData()->GetScalars());
-              
+
         if (poly_colors && (poly_colors->GetNumberOfComponents() == 3))
         {
             mesh.colors.create(1, nr_points, CV_8UC3);
@@ -164,9 +164,9 @@ struct cv::viz::Mesh3d::loadMeshImpl
         vtkIdType nr_cell_points;
         vtkCellArray * mesh_polygons = poly_data->GetPolys();
         mesh_polygons->InitTraversal();
-        
+
         mesh.polygons.create(1, mesh_polygons->GetSize(), CV_32SC1);
-        
+
         int* polygons = mesh.polygons.ptr<int>();
         while (mesh_polygons->GetNextCell(nr_cell_points, cell_points))
         {
@@ -213,30 +213,30 @@ cv::viz::Camera::Camera(const cv::Matx33f & K, const Size &window_size)
 }
 
 cv::viz::Camera::Camera(const Matx44f &proj, const Size &window_size)
-{   
+{
     CV_Assert(window_size.width > 0 && window_size.height > 0);
-    
+
     double near = proj(2,3) / (proj(2,2) - 1.0);
     double far = near * (proj(2,2) - 1.0) / (proj(2,2) + 1.0);
     double left = near * (proj(0,2)-1) / proj(0,0);
     double right = 2.0 * near / proj(0,0) + left;
     double bottom = near * (proj(1,2)-1) / proj(1,1);
     double top = 2.0 * near / proj(1,1) + bottom;
-    
+
     double epsilon = 2.2204460492503131e-16;
-    
+
     if (fabs(left-right) < epsilon) principal_point_[0] = static_cast<float>(window_size.width) * 0.5f;
-    else principal_point_[0] = (left * static_cast<float>(window_size.width)) / (left - right); 
+    else principal_point_[0] = (left * static_cast<float>(window_size.width)) / (left - right);
     focal_[0] = -near * principal_point_[0] / left;
-    
-    if (fabs(top-bottom) < epsilon) principal_point_[1] = static_cast<float>(window_size.height) * 0.5f; 
-    else principal_point_[1] = (top * static_cast<float>(window_size.height)) / (top - bottom); 
+
+    if (fabs(top-bottom) < epsilon) principal_point_[1] = static_cast<float>(window_size.height) * 0.5f;
+    else principal_point_[1] = (top * static_cast<float>(window_size.height)) / (top - bottom);
     focal_[1] = near * principal_point_[1] / top;
-    
+
     setClip(Vec2d(near, far));
     fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0]));
     fov_[1] = (atan2(principal_point_[1],focal_[1]) + atan2(window_size.height-principal_point_[1],focal_[1]));
-    
+
     window_size_ = window_size;
 }
 
@@ -244,33 +244,33 @@ void cv::viz::Camera::init(float f_x, float f_y, float c_x, float c_y, const Siz
 {
     CV_Assert(window_size.width > 0 && window_size.height > 0);
     setClip(Vec2d(0.01, 1000.01));// Default clipping
-    
+
     fov_[0] = (atan2(c_x,f_x) + atan2(window_size.width-c_x,f_x));
     fov_[1] = (atan2(c_y,f_y) + atan2(window_size.height-c_y,f_y));
-    
+
     principal_point_[0] = c_x;
     principal_point_[1] = c_y;
-    
+
     focal_[0] = f_x;
     focal_[1] = f_y;
-    
+
     window_size_ = window_size;
 }
 
 void cv::viz::Camera::setWindowSize(const Size &window_size)
 {
     CV_Assert(window_size.width > 0 && window_size.height > 0);
-    
+
     // Get the scale factor and update the principal points
     float scalex = static_cast<float>(window_size.width) / static_cast<float>(window_size_.width);
     float scaley = static_cast<float>(window_size.height) / static_cast<float>(window_size_.height);
-    
+
     principal_point_[0] *= scalex;
     principal_point_[1] *= scaley;
     focal_ *= scaley;
     // Vertical field of view is fixed!  Update horizontal field of view
     fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0]));
-    
+
     window_size_ = window_size;
 }
 
@@ -280,12 +280,12 @@ void cv::viz::Camera::computeProjectionMatrix(Matx44f &proj) const
     double left = -clip_[0] * principal_point_[0] / focal_[0];
     double right = clip_[0] * (window_size_.width - principal_point_[0]) / focal_[0];
     double bottom = -clip_[0] * (window_size_.height - principal_point_[1]) / focal_[1];
-    
+
     double temp1 = 2.0 * clip_[0];
     double temp2 = 1.0 / (right - left);
     double temp3 = 1.0 / (top - bottom);
     double temp4 = 1.0 / (clip_[0] - clip_[1]);
-    
+
     proj = Matx44d::zeros();
     proj(0,0) = temp1 * temp2;
     proj(1,1) = temp1 * temp3;
@@ -300,7 +300,7 @@ cv::viz::Camera cv::viz::Camera::KinectCamera(const Size &window_size)
 {
     // Without distortion, RGB Camera
     // Received from http://nicolas.burrus.name/index.php/Research/KinectCalibration
-    Matx33f K = Matx33f::zeros();    
+    Matx33f K = Matx33f::zeros();
     K(0,0) = 5.2921508098293293e+02;
     K(0,2) = 3.2894272028759258e+02;
     K(1,1) = 5.2556393630057437e+02;

modules/viz/src/viz.cpp

@@ -72,7 +72,7 @@ cv::Affine3f cv::viz::makeCameraPose(const Vec3f& position, const Vec3f& focal_p
     Vec3f n = normalize(focal_point - position);
     Vec3f u = normalize(y_dir.cross(n));
     Vec3f v = n.cross(u);
-    
+
     Matx44f pose_mat = Matx44f::zeros();
     pose_mat(0,0) = u[0];
     pose_mat(0,1) = u[1];
@@ -147,9 +147,9 @@ struct cv::viz::VizAccessor::VizAccessorImpl
 
 cv::viz::VizAccessor::VizAccessor() { impl_ = new cv::viz::VizAccessor::VizAccessorImpl;}
 
-cv::viz::VizAccessor::~VizAccessor() 
-{ 
-    if(impl_) 
+cv::viz::VizAccessor::~VizAccessor()
+{
+    if(impl_)
     {
         delete impl_;
         impl_ = 0;
@@ -202,7 +202,7 @@ void cv::viz::VizAccessor::remove(const String &window_name)
     // Add the prefix Viz
     String name;
     generateWindowName(window_name, name);
-    
+
     VizMap::iterator vm_itr = impl_->viz_map.find(name);
     bool exists = vm_itr != impl_->viz_map.end();
     if (!exists) return ;
@@ -214,7 +214,7 @@ void cv::viz::VizAccessor::generateWindowName(const String &window_name, String
     output = "Viz";
     // Already is Viz
     if (window_name == output) return;
-    
+
     String prefixed = output + " - ";
     if (window_name.substr(0, prefixed.length()) == prefixed) output = window_name; // Already has "Viz - "
     else if (window_name.substr(0, output.length()) == output) output = prefixed + window_name; // Doesn't have prefix

modules/viz/src/viz3d.cpp

@@ -51,7 +51,7 @@
 
 cv::viz::Viz3d::Viz3d(const String& window_name) : impl_(0) { create(window_name); }
 
-cv::viz::Viz3d::Viz3d(const Viz3d& other) : impl_(other.impl_) 
+cv::viz::Viz3d::Viz3d(const Viz3d& other) : impl_(other.impl_)
 {
     if (impl_) CV_XADD(&impl_->ref_counter, 1);
 }

modules/viz/src/viz3d_impl.cpp

@@ -125,7 +125,7 @@ cv::viz::Viz3d::VizImpl::VizImpl(const String &name)
 /////////////////////////////////////////////////////////////////////////////////////////////
 cv::viz::Viz3d::VizImpl::~VizImpl()
 {
-    if (interactor_) 
+    if (interactor_)
         interactor_->DestroyTimer(timer_id_);
     if (renderer_) renderer_->Clear();
 }
@@ -368,11 +368,11 @@ void cv::viz::Viz3d::VizImpl::setBackgroundColor(const Color& color)
 void cv::viz::Viz3d::VizImpl::setCamera(const Camera &camera)
 {
     vtkCamera& active_camera = *renderer_->GetActiveCamera();
-    
+
     // Set the intrinsic parameters of the camera
     window_->SetSize(camera.getWindowSize().width, camera.getWindowSize().height);
     double aspect_ratio = static_cast<double>(camera.getWindowSize().width)/static_cast<double>(camera.getWindowSize().height);
-    
+
     Matx44f proj_mat;
     camera.computeProjectionMatrix(proj_mat);
     // Use the intrinsic parameters of the camera to simulate more realistically
@@ -382,7 +382,7 @@ void cv::viz::Viz3d::VizImpl::setCamera(const Camera &camera)
     transform->SetMatrix(convertToVtkMatrix(proj_mat * old_proj_mat.inv()));
     active_camera.SetUserTransform(transform);
     transform->Delete();
-    
+
     renderer_->ResetCameraClippingRange();
     renderer_->Render();
 }
@@ -391,11 +391,11 @@ void cv::viz::Viz3d::VizImpl::setCamera(const Camera &camera)
 cv::viz::Camera cv::viz::Viz3d::VizImpl::getCamera() const
 {
     vtkCamera& active_camera = *renderer_->GetActiveCamera();
-    
+
     Size window_size(renderer_->GetRenderWindow()->GetSize()[0],
                      renderer_->GetRenderWindow()->GetSize()[1]);
     double aspect_ratio = static_cast<double>(window_size.width) / static_cast<double>(window_size.height);
-    
+
     Matx44f proj_matrix = convertToMatx(active_camera.GetProjectionTransformMatrix(aspect_ratio, -1.0f, 1.0f));
     Camera camera(proj_matrix, window_size);
     return camera;
@@ -405,7 +405,7 @@ cv::viz::Camera cv::viz::Viz3d::VizImpl::getCamera() const
 void cv::viz::Viz3d::VizImpl::setViewerPose(const Affine3f &pose)
 {
     vtkCamera& camera = *renderer_->GetActiveCamera();
-        
+
     // Position = extrinsic translation
     cv::Vec3f pos_vec = pose.translation();
 
@@ -417,11 +417,11 @@ void cv::viz::Viz3d::VizImpl::setViewerPose(const Affine3f &pose)
     // Compute the new focal point
     cv::Vec3f z_axis(0.f, 0.f, 1.f);
     cv::Vec3f focal_vec = pos_vec + rotation * z_axis;
-    
+
     camera.SetPosition(pos_vec[0], pos_vec[1], pos_vec[2]);
     camera.SetFocalPoint(focal_vec[0], focal_vec[1], focal_vec[2]);
     camera.SetViewUp(up_vec[0], up_vec[1], up_vec[2]);
-    
+
     renderer_->ResetCameraClippingRange();
     renderer_->Render();
 }
@@ -465,10 +465,10 @@ void cv::viz::Viz3d::VizImpl::convertToWindowCoordinates(const Point3d &pt, Poin
 
 /////////////////////////////////////////////////////////////////////////////////////////////
 void cv::viz::Viz3d::VizImpl::converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction)
-{    
+{
     Vec4d world_pt;
     vtkInteractorObserver::ComputeDisplayToWorld(renderer_, window_coord.x, window_coord.y, window_coord.z, world_pt.val);
-     
+
     vtkCamera &active_camera = *renderer_->GetActiveCamera();
     Vec3d cam_pos;
     active_camera.GetPosition(cam_pos.val);
@@ -525,19 +525,19 @@ void cv::viz::Viz3d::VizImpl::setRepresentation(int representation)
     vtkActor * actor;
     switch (representation)
     {
-        case REPRESENTATION_POINTS: 
+        case REPRESENTATION_POINTS:
         {
             while ((actor = actors->GetNextActor()) != NULL)
                 actor->GetProperty()->SetRepresentationToPoints();
             break;
         }
-        case REPRESENTATION_SURFACE: 
+        case REPRESENTATION_SURFACE:
         {
             while ((actor = actors->GetNextActor()) != NULL)
                 actor->GetProperty()->SetRepresentationToSurface();
             break;
         }
-        case REPRESENTATION_WIREFRAME: 
+        case REPRESENTATION_WIREFRAME:
         {
             while ((actor = actors->GetNextActor()) != NULL)
                 actor->GetProperty()->SetRepresentationToWireframe();

modules/viz/src/viz3d_impl.hpp

@@ -58,20 +58,20 @@ public:
     typedef cv::Ptr<VizImpl> Ptr;
     typedef Viz3d::KeyboardCallback KeyboardCallback;
     typedef Viz3d::MouseCallback MouseCallback;
-    
+
     int ref_counter;
 
     VizImpl(const String &name);
     virtual ~VizImpl();
-    
+
     void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
     void removeWidget(const String &id);
     Widget getWidget(const String &id) const;
     void removeAllWidgets();
-    
+
     void setWidgetPose(const String &id, const Affine3f &pose);
     void updateWidgetPose(const String &id, const Affine3f &pose);
-    Affine3f getWidgetPose(const String &id) const; 
+    Affine3f getWidgetPose(const String &id) const;
 
     void setDesiredUpdateRate(double rate);
     double getDesiredUpdateRate();
@@ -86,7 +86,7 @@ public:
     void close()
     {
         stopped_ = true;
-        if (interactor_) 
+        if (interactor_)
         {
             interactor_->GetRenderWindow()->Finalize();
             interactor_->TerminateApp(); // This tends to close the window...
@@ -94,14 +94,14 @@ public:
     }
 
     void setRepresentation(int representation);
-    
+
     void setCamera(const Camera &camera);
     Camera getCamera() const;
 
     /** \brief Reset the camera to a given widget */
     void resetCameraViewpoint(const String& id);
     void resetCamera();
-    
+
     void setViewerPose(const Affine3f &pose);
     Affine3f getViewerPose();
 
@@ -182,7 +182,7 @@ private:
 
     /** \brief The render window interactor style. */
     vtkSmartPointer<InteractorStyle> style_;
-    
+
     /** \brief Internal list with actor pointers and name IDs for all widget actors */
     cv::Ptr<WidgetActorMap> widget_actor_map_;
 
@@ -245,7 +245,7 @@ namespace cv
                     }
                     return output;
                 }
-                
+
                 static _Out* copyColor(const Mat& source, _Out* output, const Mat& nan_mask)
                 {
                     CV_Assert(DataDepth<_Tp>::value == source.depth() && source.size() == nan_mask.size());
@@ -282,7 +282,7 @@ namespace cv
 
                 return table[nan_mask.depth() - 5](source, output, nan_mask);
             }
-            
+
             template<typename _Tp>
             static inline Vec<_Tp, 3>* copyColor(const Mat& source, Vec<_Tp, 3>* output, const Mat& nan_mask)
             {
@@ -328,7 +328,7 @@ namespace cv
 
         inline Vec3d vtkpoint(const Point3f& point) { return Vec3d(point.x, point.y, point.z); }
         template<typename _Tp> inline _Tp normalized(const _Tp& v) { return v * 1/cv::norm(v); }
-        
+
         struct ConvertToVtkImage
         {
             struct Impl
@@ -336,7 +336,7 @@ namespace cv
                 static void copyImageMultiChannel(const Mat &image, vtkSmartPointer<vtkImageData> output)
                 {
                     int i_chs = image.channels();
-            
+
                     for (int i = 0; i < image.rows; ++i)
                     {
                         const unsigned char * irows = image.ptr<unsigned char>(i);
@@ -349,7 +349,7 @@ namespace cv
                     }
                     output->Modified();
                 }
-                
+
                 static void copyImageSingleChannel(const Mat &image, vtkSmartPointer<vtkImageData> output)
                 {
                     for (int i = 0; i < image.rows; ++i)
@@ -364,7 +364,7 @@ namespace cv
                     output->Modified();
                 }
             };
-            
+
             static void convert(const Mat &image, vtkSmartPointer<vtkImageData> output)
             {
                 // Create the vtk image
@@ -376,7 +376,7 @@ namespace cv
 #else
                 output->AllocateScalars(VTK_UNSIGNED_CHAR, image.channels());
 #endif
-                
+
                 int i_chs = image.channels();
                 if (i_chs > 1)
                 {

modules/viz/src/widget.cpp

@@ -55,14 +55,14 @@ class cv::viz::Widget::Impl
 {
 public:
     vtkSmartPointer<vtkProp> prop;
-    
+
     Impl() : prop(0) {}
 };
 
 cv::viz::Widget::Widget() : impl_( new Impl() ) { }
 
 cv::viz::Widget::Widget(const Widget& other) : impl_( new Impl() )
-{ 
+{
     if (other.impl_ && other.impl_->prop) impl_->prop = other.impl_->prop;
 }
 
@@ -73,8 +73,8 @@ cv::viz::Widget& cv::viz::Widget::operator=(const Widget& other)
     return *this;
 }
 
-cv::viz::Widget::~Widget() 
-{ 
+cv::viz::Widget::~Widget()
+{
     if (impl_)
     {
         delete impl_;
@@ -86,7 +86,7 @@ cv::viz::Widget cv::viz::Widget::fromPlyFile(const String &file_name)
 {
     vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
     reader->SetFileName(file_name.c_str());
-    
+
     vtkSmartPointer<vtkDataSet> data = reader->GetOutput();
     CV_Assert("File does not exist or file format is not supported." && data);
 
@@ -120,7 +120,7 @@ cv::viz::Widget cv::viz::Widget::fromPlyFile(const String &file_name)
     actor->GetProperty()->BackfaceCullingOn();
 
     actor->SetMapper(mapper);
-    
+
     Widget widget;
     widget.impl_->prop = actor;
     return widget;
@@ -130,7 +130,7 @@ void cv::viz::Widget::setRenderingProperty(int property, double value)
 {
     vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
     CV_Assert("Widget type is not supported." && actor);
-    
+
     switch (property)
     {
         case POINT_SIZE:
@@ -218,8 +218,8 @@ void cv::viz::Widget::setRenderingProperty(int property, double value)
             actor->Modified();
             break;
         }
-        
-        
+
+
         default:
             CV_Assert("setPointCloudRenderingProperties: Unknown property");
     }
@@ -229,7 +229,7 @@ double cv::viz::Widget::getRenderingProperty(int property) const
 {
     vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
     CV_Assert("Widget type is not supported." && actor);
-    
+
     double value = 0.0;
     switch (property)
     {
@@ -313,7 +313,7 @@ struct cv::viz::Widget3D::MatrixConverter
                 m(i, k) = vtk_matrix->GetElement(i, k);
         return m;
     }
-    
+
     static vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix(const Matx44f& m)
     {
         vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New();
@@ -328,7 +328,7 @@ void cv::viz::Widget3D::setPose(const Affine3f &pose)
 {
     vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
     CV_Assert("Widget is not 3D." && actor);
-    
+
     vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
     actor->SetUserMatrix(matrix);
     actor->Modified();
@@ -338,7 +338,7 @@ void cv::viz::Widget3D::updatePose(const Affine3f &pose)
 {
     vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
     CV_Assert("Widget is not 3D." && actor);
-    
+
     vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
     if (!matrix)
     {
@@ -358,7 +358,7 @@ cv::Affine3f cv::viz::Widget3D::getPose() const
 {
     vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
     CV_Assert("Widget is not 3D." && actor);
-    
+
     vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
     Matx44f matrix_cv = MatrixConverter::convertToMatx(matrix);
     return Affine3f(matrix_cv);
@@ -369,7 +369,7 @@ void cv::viz::Widget3D::setColor(const Color &color)
     // Cast to actor instead of prop3d since prop3d doesn't provide getproperty
     vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
     CV_Assert("Widget type is not supported." && actor);
-    
+
     Color c = vtkcolor(color);
     actor->GetMapper()->ScalarVisibilityOff();
     actor->GetProperty()->SetColor(c.val);

modules/viz/test/test_viz3d.cpp

@@ -110,23 +110,23 @@ TEST(Viz_viz3d, accuracy)
     for (int i = 0, j = 0; i <= 360; ++i, j+=5)
     {
         cam_path.push_back(viz::makeCameraPose(Point3f(0.5*cos(double(i)*CV_PI/180.0), 0.5*sin(double(j)*CV_PI/180.0), 0.5*sin(double(i)*CV_PI/180.0)),
-                                               Point3f(0.0,0.0,0.0), Point3f(0.0,1.0,0.0))); 
+                                               Point3f(0.0,0.0,0.0), Point3f(0.0,1.0,0.0)));
     }
-   
+
     int path_counter = 0;
     int cam_path_size = cam_path.size();
 
     // OTHER WIDGETS
     cv::Mat img = imread("opencv.png");
-    
+
     int downSample = 4;
-    
+
     int row_max = img.rows/downSample;
     int col_max = img.cols/downSample;
-    
+
     cv::Mat *clouds = new cv::Mat[img.cols/downSample];
     cv::Mat *colors = new cv::Mat[img.cols/downSample];
-    
+
     for (int col = 0; col < col_max; ++col)
     {
         clouds[col] = Mat::zeros(img.rows/downSample, 1, CV_32FC3);
@@ -137,7 +137,7 @@ TEST(Viz_viz3d, accuracy)
             colors[col].at<Vec3b>(row) = img.at<Vec3b>(row*downSample,col*downSample);
         }
     }
-    
+
     for (int col = 0; col < col_max; ++col)
     {
         std::stringstream strstrm;
@@ -146,16 +146,16 @@ TEST(Viz_viz3d, accuracy)
         viz.getWidget(strstrm.str()).setRenderingProperty(viz::POINT_SIZE, 3.0);
         viz.getWidget(strstrm.str()).setRenderingProperty(viz::OPACITY, 0.45);
     }
-    
+
     viz.showWidget("trajectory", viz::WTrajectory(cam_path, viz::WTrajectory::DISPLAY_PATH, viz::Color::yellow()));
     viz.showWidget("cam_text", viz::WText("Global View", Point2i(5,5), 28));
     viz.registerKeyboardCallback(keyboard_callback, (void *) &viz);
 
     int angle = 0;
-    
+
     while(!viz.wasStopped())
     {
-        if (path_counter == cam_path_size) 
+        if (path_counter == cam_path_size)
         {
             path_counter = 0;
         }
@@ -164,12 +164,12 @@ TEST(Viz_viz3d, accuracy)
         {
             viz.setViewerPose(cam_path[path_counter]);
         }
-        
+
         if (angle == 360) angle = 0;
 
         cam_1.cast<viz::WCameraPosition>().setPose(cam_path[path_counter]);
         cam_coordinates.cast<viz::WCameraPosition>().setPose(cam_path[path_counter++]);
-        
+
         for (int i = 0; i < col_max; ++i)
         {
             std::stringstream strstrm;

samples/cpp/CMakeLists.txt

@@ -82,7 +82,7 @@ if(BUILD_EXAMPLES AND OCV_DEPENDENCIES_FOUND)
   if(NOT HAVE_opencv_gpuarithm OR NOT HAVE_opencv_gpufilters)
     ocv_list_filterout(cpp_samples "/gpu/")
   endif()
-  
+
   ocv_list_filterout(cpp_samples "viz")
 
   foreach(sample_filename ${cpp_samples})

samples/cpp/tutorial_code/viz/creating_widgets.cpp

@@ -5,7 +5,7 @@
  */
 
 #include <opencv2/viz.hpp>
-#include <opencv2/viz/widget_accessor.hpp> 
+#include <opencv2/viz/widget_accessor.hpp>
 #include <iostream>
 
 #include <vtkPoints.h>
@@ -42,7 +42,7 @@ void help()
 class WTriangle : public viz::Widget3D
 {
     public:
-        WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white()); 
+        WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
 };
 
 /**
@@ -56,22 +56,22 @@ WTriangle::WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3,
     points->InsertNextPoint(pt1.x, pt1.y, pt1.z);
     points->InsertNextPoint(pt2.x, pt2.y, pt2.z);
     points->InsertNextPoint(pt3.x, pt3.y, pt3.z);
-    
+
     vtkSmartPointer<vtkTriangle> triangle = vtkSmartPointer<vtkTriangle>::New();
     triangle->GetPointIds()->SetId(0,0);
     triangle->GetPointIds()->SetId(1,1);
     triangle->GetPointIds()->SetId(2,2);
-    
+
     vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
     cells->InsertNextCell(triangle);
-    
+
     // Create a polydata object
     vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
-    
+
     // Add the geometry and topology to the polydata
     polyData->SetPoints(points);
     polyData->SetPolys(cells);
-    
+
     // Create mapper and actor
     vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
 #if VTK_MAJOR_VERSION <= 5
@@ -79,13 +79,13 @@ WTriangle::WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3,
 #else
     mapper->SetInputData(polyData);
 #endif
-    
+
     vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
     actor->SetMapper(mapper);
-    
+
     // Store this actor in the widget in order that visualizer can access it
     viz::WidgetAccessor::setProp(*this, actor);
-    
+
     // Set the color of the widget. This has to be called after WidgetAccessor.
     setColor(color);
 }
@@ -96,18 +96,18 @@ WTriangle::WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3,
 int main()
 {
     help();
-    
+
     /// Create a window
     viz::Viz3d myWindow("Creating Widgets");
-    
+
     /// Create a triangle widget
     WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
-    
+
     /// Show widget in the visualizer window
     myWindow.showWidget("TRIANGLE", tw);
-    
+
     /// Start event loop
     myWindow.spin();
-    
+
     return 0;
 }

samples/cpp/tutorial_code/viz/launching_viz.cpp

@@ -33,33 +33,33 @@ int main()
     help();
     /// Create a window
     viz::Viz3d myWindow("Viz Demo");
-    
+
     /// Start event loop
     myWindow.spin();
-    
+
     /// Event loop is over when pressed q, Q, e, E
     cout << "First event loop is over" << endl;
-    
+
     /// Access window via its name
     viz::Viz3d sameWindow = viz::get("Viz Demo");
-    
+
     /// Start event loop
     sameWindow.spin();
-    
+
     /// Event loop is over when pressed q, Q, e, E
     cout << "Second event loop is over" << endl;
-    
+
     /// Event loop is over when pressed q, Q, e, E
     /// Start event loop once for 1 millisecond
     sameWindow.spinOnce(1, true);
     while(!sameWindow.wasStopped())
     {
         /// Interact with window
-        
+
         /// Event loop for 1 millisecond
         sameWindow.spinOnce(1, true);
     }
-    
+
     /// Once more event loop is stopped
     cout << "Last event loop is over" << endl;
     return 0;

samples/cpp/tutorial_code/viz/transformations.cpp

@@ -44,7 +44,7 @@ Mat cvcloud_load()
     float dummy1, dummy2;
     for(size_t i = 0; i < 1889; ++i)
         ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2;
-    
+
     cloud *= 5.0f;
     return cloud;
 }
@@ -55,40 +55,40 @@ Mat cvcloud_load()
 int main(int argn, char **argv)
 {
     help();
-    
+
     if (argn < 2)
     {
         cout << "Missing arguments." << endl;
         return 1;
     }
-    
+
     bool camera_pov = (argv[1][0] == 'C');
-    
+
     /// Create a window
     viz::Viz3d myWindow("Coordinate Frame");
-    
+
     /// Add coordinate axes
     myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
-    
+
     /// Let's assume camera has the following properties
     Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
-    
+
     /// We can get the pose of the cam using makeCameraPose
     Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
-    
+
     /// We can get the transformation matrix from camera coordinate system to global using
     /// - makeTransformToGlobal. We need the axes of the camera
     Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
-    
+
     /// Create a cloud widget.
     Mat bunny_cloud = cvcloud_load();
     viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
-    
+
     /// Pose of the widget in camera frame
     Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
     /// Pose of the widget in global frame
     Affine3f cloud_pose_global = transform * cloud_pose;
-    
+
     /// Visualize camera frame
     if (!camera_pov)
     {
@@ -97,16 +97,16 @@ int main(int argn, char **argv)
         myWindow.showWidget("CPW", cpw, cam_pose);
         myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
     }
-    
+
     /// Visualize widget
     myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
-    
+
     /// Set the viewer pose to that of camera
     if (camera_pov)
         myWindow.setViewerPose(cam_pose);
-    
+
     /// Start event loop.
     myWindow.spin();
-    
+
     return 0;
 }

samples/cpp/tutorial_code/viz/widget_pose.cpp

@@ -32,23 +32,23 @@ void help()
 int main()
 {
     help();
-    
+
     /// Create a window
     viz::Viz3d myWindow("Coordinate Frame");
-    
+
     /// Add coordinate axes
     myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
-    
+
     /// Add line to represent (1,1,1) axis
     viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
     axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
     myWindow.showWidget("Line Widget", axis);
-    
+
     /// Construct a cube widget
     viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
     cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
-    myWindow.showWidget("Cube Widget", cube_widget); 
-    
+    myWindow.showWidget("Cube Widget", cube_widget);
+
     /// Rodrigues vector
     Mat rot_vec = Mat::zeros(1,3,CV_32F);
     float translation_phase = 0.0, translation = 0.0;
@@ -59,21 +59,21 @@ int main()
         rot_vec.at<float>(0,0) += CV_PI * 0.01f;
         rot_vec.at<float>(0,1) += CV_PI * 0.01f;
         rot_vec.at<float>(0,2) += CV_PI * 0.01f;
-        
+
         /// Shift on (1,1,1)
         translation_phase += CV_PI * 0.01f;
         translation = sin(translation_phase);
-        
+
         Mat rot_mat;
-        Rodrigues(rot_vec, rot_mat); 
-        
+        Rodrigues(rot_vec, rot_mat);
+
         /// Construct pose
         Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
-        
+
         myWindow.setWidgetPose("Cube Widget", pose);
-        
+
         myWindow.spinOnce(1, true);
     }
-    
+
     return 0;
 }