4 files changed, 24 insertions, 25 deletions
diff --git a/ftnoir_tracker_aruco/ar_video_widget.h b/ftnoir_tracker_aruco/ar_video_widget.h
index 8c51382b..638b0ab4 100644
--- a/ftnoir_tracker_aruco/ar_video_widget.h
+++ b/ftnoir_tracker_aruco/ar_video_widget.h
@@ -21,8 +21,7 @@
 // ----------------------------------------------------------------------------
 class ArucoVideoWidget : public QWidget
 {
-	Q_OBJECT
-    
+    Q_OBJECT
 private:
     QMutex mtx;
     QImage texture;
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco_dll.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco_dll.h
index ffcd3eca..ac393bfb 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco_dll.h
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco_dll.h
@@ -10,9 +10,9 @@
 //-----------------------------------------------------------------------------
 class TrackerDll : public Metadata
 {
-	// ITrackerDll interface
-	void getFullName(QString *strToBeFilled);
-	void getShortName(QString *strToBeFilled);
-	void getDescription(QString *strToBeFilled);
-	void getIcon(QIcon *icon);
+    // ITrackerDll interface
+    void getFullName(QString *strToBeFilled);
+    void getShortName(QString *strToBeFilled);
+    void getDescription(QString *strToBeFilled);
+    void getIcon(QIcon *icon);
 };
diff --git a/ftnoir_tracker_aruco/trans_calib.cpp b/ftnoir_tracker_aruco/trans_calib.cpp
index 369de449..a562763a 100644
--- a/ftnoir_tracker_aruco/trans_calib.cpp
+++ b/ftnoir_tracker_aruco/trans_calib.cpp
@@ -12,33 +12,33 @@ using namespace cv;
 //-----------------------------------------------------------------------------
 TranslationCalibrator::TranslationCalibrator()
 {
-	reset();
+    reset();
 }
 
 void TranslationCalibrator::reset()
 {
-	P = Matx66f::zeros();
-	y = Vec6f(0,0,0, 0,0,0);
+    P = Matx66f::zeros();
+    y = Vec6f(0,0,0, 0,0,0);
 }
 
 void TranslationCalibrator::update(const Matx33d& R_CM_k, const Vec3d& t_CM_k)
 {
-	Matx<double, 6,3> H_k_T = Matx<double, 6,3>::zeros();
-	for (int i=0; i<3; ++i) {
-		for (int j=0; j<3; ++j) {
-			H_k_T(i,j) = R_CM_k(j,i);
-		}
-	}
-	for (int i=0; i<3; ++i)
-	{
-		H_k_T(3+i,i) = 1.0;
-	}
-	P += H_k_T * H_k_T.t();
-	y += H_k_T * t_CM_k;
+    Matx<double, 6,3> H_k_T = Matx<double, 6,3>::zeros();
+    for (int i=0; i<3; ++i) {
+        for (int j=0; j<3; ++j) {
+            H_k_T(i,j) = R_CM_k(j,i);
+        }
+    }
+    for (int i=0; i<3; ++i)
+    {
+        H_k_T(3+i,i) = 1.0;
+    }
+    P += H_k_T * H_k_T.t();
+    y += H_k_T * t_CM_k;
 }
 
 Vec3f TranslationCalibrator::get_estimate()
 {
-	Vec6f x = P.inv() * y;
+    Vec6f x = P.inv() * y;
     return Vec3f(x[0], x[1], x[2]);
 }
diff --git a/ftnoir_tracker_aruco/trans_calib.h b/ftnoir_tracker_aruco/trans_calib.h
index 5a2d7c0f..3d1e56fa 100644
--- a/ftnoir_tracker_aruco/trans_calib.h
+++ b/ftnoir_tracker_aruco/trans_calib.h
@@ -32,8 +32,8 @@ public:
     cv::Vec3f get_estimate();
 
 private:
-    cv::Matx66f P;	// normalized precision matrix = inverse covariance
-    cv::Vec6f y;	// P*(-t_MH, t_CH)
+    cv::Matx66f P;  // normalized precision matrix = inverse covariance
+    cv::Vec6f y;    // P*(-t_MH, t_CH)
 };
 
 #endif //TRANSCALIB_H