pt: reformat more

2 files changed, 55 insertions, 55 deletions

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 19d1bd7f..11fe64cc 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -19,8 +19,8 @@
 Tracker_PT::Tracker_PT()
     : mutex(QMutex::Recursive),
       commands(0),
-	  video_widget(NULL),
-	  video_frame(NULL),
+      video_widget(NULL),
+      video_frame(NULL),
       ever_success(false)
 {
     connect(s.b.get(), SIGNAL(saving()), this, SLOT(apply_settings()));
@@ -28,8 +28,8 @@ Tracker_PT::Tracker_PT()
 
 Tracker_PT::~Tracker_PT()
 {
-	set_command(ABORT);
-	wait();
+    set_command(ABORT);
+    wait();
     delete video_widget;
     video_widget = NULL;
     if (video_frame->layout()) delete video_frame->layout();
@@ -39,13 +39,13 @@ Tracker_PT::~Tracker_PT()
 void Tracker_PT::set_command(Command command)
 {
     //QMutexLocker lock(&mutex);
-	commands |= command;
+    commands |= command;
 }
 
 void Tracker_PT::reset_command(Command command)
 {
     //QMutexLocker lock(&mutex);
-	commands &= ~command;
+    commands &= ~command;
 }
 
 bool Tracker_PT::get_focal_length(float& ret)
@@ -69,13 +69,13 @@ bool Tracker_PT::get_focal_length(float& ret)
 void Tracker_PT::run()
 {
 #ifdef PT_PERF_LOG
-	QFile log_file(QCoreApplication::applicationDirPath() + "/PointTrackerPerformance.txt");
-	if (!log_file.open(QIODevice::WriteOnly | QIODevice::Text)) return;
-	QTextStream log_stream(&log_file);
+    QFile log_file(QCoreApplication::applicationDirPath() + "/PointTrackerPerformance.txt");
+    if (!log_file.open(QIODevice::WriteOnly | QIODevice::Text)) return;
+    QTextStream log_stream(&log_file);
 #endif
 
     apply_settings();
-    
+
     while((commands & ABORT) == 0)
     {
         const double dt = time.elapsed() * 1e-9;
@@ -97,20 +97,20 @@ void Tracker_PT::run()
             // blobs are sorted in order of circularity
             if (points.size() > PointModel::N_POINTS)
                 points.resize(PointModel::N_POINTS);
-            
+
             bool success = points.size() == PointModel::N_POINTS;
-            
+
             ever_success |= success;
 
             float fx;
             if (!get_focal_length(fx))
                 continue;
-            
+
             if (success)
             {
                 point_tracker.track(points, PointModel(s), fx, s.dynamic_pose, s.init_phase_timeout);
             }
-            
+
             {
                 Affine X_CM = pose();
                 Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); // just copy pasted these lines from below
@@ -119,7 +119,7 @@ void Tracker_PT::run()
                 cv::Vec2f p_(p[0] / p[2] * fx, p[1] / p[2] * fx);  // projected to screen
                 points.push_back(p_);
             }
-            
+
             for (unsigned i = 0; i < points.size(); i++)
             {
                 auto& p = points[i];
@@ -138,7 +138,7 @@ void Tracker_PT::run()
                          color,
                          4);
             }
-            
+
             video_widget->update_image(frame);
         }
 #ifdef PT_PERF_LOG
@@ -181,26 +181,26 @@ void Tracker_PT::data(double *data)
     if (ever_success)
     {
         Affine X_CM = pose();
-    
+
         Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z));
         Affine X_GH = X_CM * X_MH;
-    
+
         cv::Matx33f R = X_GH.R;
         cv::Vec3f   t = X_GH.t;
-    
+
         // translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame
         // -z -> x, y -> z, x -> -y
         cv::Matx33f R_EG(0, 0,-1,
                          -1, 0, 0,
                          0, 1, 0);
         R = R_EG * R * R_EG.t();
-    
+
         // extract rotation angles
         float alpha, beta, gamma;
         beta  = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
         alpha = atan2( R(1,0), R(0,0));
         gamma = atan2( R(2,1), R(2,2));
-    
+
         // extract rotation angles
         data[Yaw] = rad2deg * alpha;
         data[Pitch] = -rad2deg * beta;
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index 383061c5..cec107cf 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -18,16 +18,16 @@ const float PI = 3.14159265358979323846f;
 // ----------------------------------------------------------------------------
 static void get_row(const cv::Matx33f& m, int i, cv::Vec3f& v)
 {
-	v[0] = m(i,0);
-	v[1] = m(i,1);
-	v[2] = m(i,2);
+    v[0] = m(i,0);
+    v[1] = m(i,1);
+    v[2] = m(i,2);
 }
 
 static void set_row(cv::Matx33f& m, int i, const cv::Vec3f& v)
 {
-	m(i,0) = v[0];
-	m(i,1) = v[1];
-	m(i,2) = v[2];
+    m(i,0) = v[0];
+    m(i,1) = v[1];
+    m(i,2) = v[2];
 }
 
 static bool d_vals_sort(const std::pair<float,int> a, const std::pair<float,int> b)
@@ -67,31 +67,31 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const std::
     // set correspondences by minimum distance to projected model point
     bool point_taken[PointModel::N_POINTS];
     for (int i=0; i<PointModel::N_POINTS; ++i)
-            point_taken[i] = false;
+        point_taken[i] = false;
 
     for (int i=0; i<PointModel::N_POINTS; ++i)
     {
-            float min_sdist = 0;
-            int min_idx = 0;
-            // find closest point to projected model point i
-            for (int j=0; j<PointModel::N_POINTS; ++j)
+        float min_sdist = 0;
+        int min_idx = 0;
+        // find closest point to projected model point i
+        for (int j=0; j<PointModel::N_POINTS; ++j)
+        {
+            cv::Vec2f d = p.points[i]-points[j];
+            float sdist = d.dot(d);
+            if (sdist < min_sdist || j==0)
             {
-                    cv::Vec2f d = p.points[i]-points[j];
-                    float sdist = d.dot(d);
-                    if (sdist < min_sdist || j==0)
-                    {
-                            min_idx = j;
-                            min_sdist = sdist;
-                    }
+                min_idx = j;
+                min_sdist = sdist;
             }
-            // if one point is closest to more than one model point, fallback
-            if (point_taken[min_idx])
-            {
-                init_phase = true;
-                return find_correspondences(points, model);
-            }
-            point_taken[min_idx] = true;
-            p.points[i] = points[min_idx];
+        }
+        // if one point is closest to more than one model point, fallback
+        if (point_taken[min_idx])
+        {
+            init_phase = true;
+            return find_correspondences(points, model);
+        }
+        point_taken[min_idx] = true;
+        p.points[i] = points[min_idx];
     }
     return p;
 }
@@ -100,19 +100,19 @@ void PointTracker::track(const std::vector<cv::Vec2f>& points, const PointModel&
 {
     PointOrder order;
 
-	if (t.elapsed_ms() > init_phase_timeout)
-	{
-		t.start();
-		init_phase = true;
-	}
+    if (t.elapsed_ms() > init_phase_timeout)
+    {
+        t.start();
+        init_phase = true;
+    }
 
     if (!dynamic_pose || init_phase)
         order = find_correspondences(points, model);
-	else
-		order = find_correspondences_previous(points, model, f);
+    else
+        order = find_correspondences_previous(points, model, f);
 
     POSIT(model, order, f);
-	init_phase = false;
+    init_phase = false;
     t.start();
 }