sanitize formatting, use 2 spaces instead of tabs

calibrate.cc

@@ -25,17 +25,17 @@ int main(int argc, char** argv)
   int specified_boards;
   if (argc > 2)
     cerr << "Usage: ./calibrate [number of frames]\n";
-	else if (argc == 1) 
-	{
+  else if (argc == 1) {
     user_mode = INTERACTIVE_MODE;
-		cout << "Camera calibration using interactive behavior. Press SPACE to grab frame.\n";
-	} 
-	else 
-	{
+    cout <<
+	"Camera calibration using interactive behavior. Press SPACE to grab frame.\n";
+  } else {
     user_mode = PRESPECIFIED_MODE;
-		stringstream ss; ss << argv[1]; 
+    stringstream ss;
+    ss << argv[1];
     ss >> specified_boards;
-		cout << "Camera calibration using " << specified_boards << " frames.\n";
+    cout << "Camera calibration using " << specified_boards <<
+	" frames.\n";
   }
 
   VideoCapture capture(-1);	// open the default camera
@@ -50,31 +50,38 @@ int main(int argc, char** argv)
   vector < vector < Point2f > >image_points;
 
   Mat frame, gray_frame;
-	for(int count = 0; ; ++count)
-	{
+  for (int count = 0;; ++count) {
     cout << "Frame: " << count << "\n";
     capture >> frame;		// get a new frame from camera
     cvtColor(frame, gray_frame, CV_BGR2GRAY);
     imshow("Camera Image", frame);
 
     int key_pressed = waitKey(0);
-		if (key_pressed == KEY_CLOSE_WINDOW || key_pressed == KEY_ESCAPE) break;
+    if (key_pressed == KEY_CLOSE_WINDOW || key_pressed == KEY_ESCAPE)
+      break;
 
     if ((user_mode == INTERACTIVE_MODE && key_pressed == KEY_SPACE) ||
-					user_mode == PRESPECIFIED_MODE && count < specified_boards) 
-		{
+	user_mode == PRESPECIFIED_MODE && count < specified_boards) {
       Size pattern_size(COUNT_SQUARES_X, COUNT_SQUARES_Y);	//interior number of corners
       vector < Point2f > corners;	//this will be filled by the detected corners
-			bool pattern_found = findChessboardCorners( gray_frame, pattern_size, corners, CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE + CALIB_CB_FAST_CHECK);
+      bool pattern_found =
+	  findChessboardCorners(gray_frame, pattern_size, corners,
+				CALIB_CB_ADAPTIVE_THRESH +
+				CALIB_CB_NORMALIZE_IMAGE +
+				CALIB_CB_FAST_CHECK);
 
       if (pattern_found)	// to tweak params: http://bit.ly/QyoU3k
       {
-				cornerSubPix(gray_frame, corners, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
-				drawChessboardCorners(frame, pattern_size, Mat(corners), pattern_found);
+	cornerSubPix(gray_frame, corners, Size(11, 11), Size(-1, -1),
+		     TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30,
+				  0.1));
+	drawChessboardCorners(frame, pattern_size, Mat(corners),
+			      pattern_found);
 
 	vector < Point3f > obj;
 	for (int j = 0; j < COUNT_SQUARES_X * COUNT_SQUARES_Y; ++j)
-		      obj.push_back(Point3f(j/COUNT_SQUARES_X, j%COUNT_SQUARES_X, 0.0f));
+	  obj.push_back(Point3f
+			(j / COUNT_SQUARES_X, j % COUNT_SQUARES_X, 0.0f));
 
 	image_points.push_back(corners);
 	object_points.push_back(obj);
@@ -90,11 +97,11 @@ int main(int argc, char** argv)
   vector < Mat > rvecs;
   vector < Mat > tvecs;
 
-  calibrateCamera(object_points, image_points, frame.size(), intrinsic, distCoeffs, rvecs, tvecs);
+  calibrateCamera(object_points, image_points, frame.size(), intrinsic,
+		  distCoeffs, rvecs, tvecs);
 
   Mat imageUndistorted;
-  while(1)
-  {
+  while (1) {
     capture >> frame;
     undistort(frame, imageUndistorted, intrinsic, distCoeffs);