removed trailing spaces

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
 =======