1 files changed, 58 insertions, 58 deletions

diff --git a/tools/lighthousefind_tori/visualization.c b/tools/lighthousefind_tori/visualization.c
index d348c2d..12cbfee 100644
--- a/tools/lighthousefind_tori/visualization.c
+++ b/tools/lighthousefind_tori/visualization.c
@@ -6,89 +6,89 @@ int pointsWritten = 0;
 
 void writePoint(FILE *file, double x, double y, double z, unsigned int rgb)
 {
-    fprintf(file, "%f %f %f %u\n", x, y, z, rgb);
-    pointsWritten++;
+	fprintf(file, "%f %f %f %u\n", x, y, z, rgb);
+	pointsWritten++;
 }
 
 void updateHeader(FILE * file)
 {
-    fseek(file, 0x4C, SEEK_SET);
-    fprintf(file, "%d", pointsWritten);
-    fseek(file, 0x7C, SEEK_SET);
-    fprintf(file, "%d", pointsWritten);
+	fseek(file, 0x4C, SEEK_SET);
+	fprintf(file, "%d", pointsWritten);
+	fseek(file, 0x7C, SEEK_SET);
+	fprintf(file, "%d", pointsWritten);
 }
 void writeAxes(FILE * file)
 {
-    double scale = 5;
-    for (double i = 0; i < scale; i = i + scale / 1000)
-    {
-        writePoint(file, i, 0, 0, 255);
-    }
-    for (double i = 0; i < scale; i = i + scale / 1000)
-    {
-        if ((int)(i / (scale / 5)) % 2 == 1)
-        {
-            writePoint(file, 0, i, 0, 255 << 8);
-        }
-    }
-    for (double i = 0; i < scale; i = i + scale / 10001)
-    {
-        if ((int)(i / (scale / 10)) % 2 == 1)
-        {
-            writePoint(file, 0, 0, i, 255 << 16);
-        }
-    }
+	double scale = 5;
+	for (double i = 0; i < scale; i = i + scale / 1000)
+	{
+		writePoint(file, i, 0, 0, 255);
+	}
+	for (double i = 0; i < scale; i = i + scale / 1000)
+	{
+		if ((int)(i / (scale / 5)) % 2 == 1)
+		{
+			writePoint(file, 0, i, 0, 255 << 8);
+		}
+	}
+	for (double i = 0; i < scale; i = i + scale / 10001)
+	{
+		if ((int)(i / (scale / 10)) % 2 == 1)
+		{
+			writePoint(file, 0, 0, i, 255 << 16);
+		}
+	}
 }
 
 void drawLineBetweenPoints(FILE *file, Point a, Point b, unsigned int color)
 {
-    int max = 50;
-    for (int i = 0; i < max; i++)
-    {
-        writePoint(file,
-            (a.x*i + b.x*(max - i)) / max,
-            (a.y*i + b.y*(max - i)) / max,
-            (a.z*i + b.z*(max - i)) / max,
-            color);
-    }
+	int max = 50;
+	for (int i = 0; i < max; i++)
+	{
+		writePoint(file,
+			(a.x*i + b.x*(max - i)) / max,
+			(a.y*i + b.y*(max - i)) / max,
+			(a.z*i + b.z*(max - i)) / max,
+			color);
+	}
 }
 
 void writePcdHeader(FILE * file)
 {
-    fprintf(file, "VERSION 0.7\n");
-    fprintf(file, "FIELDS  x y z rgb\n");
-    fprintf(file, "SIZE 4 4 4 4\n");
-    fprintf(file, "TYPE F F F U\n");
-    fprintf(file, "COUNT 1 1 1 1\n");
-    fprintf(file, "WIDTH        \n");
-    fprintf(file, "HEIGHT 1\n");
-    fprintf(file, "VIEWPOINT 0 0 0 1 0 0 0\n");
-    fprintf(file, "POINTS        \n");
-    fprintf(file, "DATA ascii\n");
+	fprintf(file, "VERSION 0.7\n");
+	fprintf(file, "FIELDS  x y z rgb\n");
+	fprintf(file, "SIZE 4 4 4 4\n");
+	fprintf(file, "TYPE F F F U\n");
+	fprintf(file, "COUNT 1 1 1 1\n");
+	fprintf(file, "WIDTH		\n");
+	fprintf(file, "HEIGHT 1\n");
+	fprintf(file, "VIEWPOINT 0 0 0 1 0 0 0\n");
+	fprintf(file, "POINTS		\n");
+	fprintf(file, "DATA ascii\n");
 
-    //fprintf(file, "100000.0, 100000.0, 100000\n");
+	//fprintf(file, "100000.0, 100000.0, 100000\n");
 
 }
 
 void writePointCloud(FILE *f, Point *pointCloud, unsigned int Color)
 {
-    Point *currentPoint = pointCloud;
+	Point *currentPoint = pointCloud;
 
-    while (currentPoint->x != -1000 || currentPoint->y != -1000 || currentPoint->z != -1000)
-    {
-        writePoint(f, currentPoint->x, currentPoint->y, currentPoint->z, Color);
-        currentPoint++;
-    }
+	while (currentPoint->x != -1000 || currentPoint->y != -1000 || currentPoint->z != -1000)
+	{
+		writePoint(f, currentPoint->x, currentPoint->y, currentPoint->z, Color);
+		currentPoint++;
+	}
 }
 
 void markPointWithStar(FILE *file, Point point, unsigned int color)
 {
-    double i;
-    for (i = -0.8; i <= 0.8; i = i + 0.0025)
-    {
-        writePoint(file, point.x + i, point.y, point.z, color);
-        writePoint(file, point.x, point.y + i, point.z, color);
-        writePoint(file, point.x, point.y, point.z + i, color);
-    }
+	double i;
+	for (i = -0.8; i <= 0.8; i = i + 0.0025)
+	{
+		writePoint(file, point.x + i, point.y, point.z, color);
+		writePoint(file, point.x, point.y + i, point.z, color);
+		writePoint(file, point.x, point.y, point.z + i, color);
+	}
 
 }