diff --git a/apps/test/camerashot/camerashot_test.cpp b/apps/test/camerashot/camerashot_test.cpp
index e8bf116c..17e77e22 100644
--- a/apps/test/camerashot/camerashot_test.cpp
+++ b/apps/test/camerashot/camerashot_test.cpp
@@ -11,217 +11,217 @@ static double precision = 0.000000001;  // 1e-9
 
 double dist2(vcg::Point2d p1, vcg::Point2d p2)
 {
-	double d = sqrt((p1[0] - p2[0]) * (p1[0] - p2[0]) + (p1[1] - p2[1]) * (p1[1] - p2[1]));
-	return d;
+  double d = sqrt((p1[0] - p2[0]) * (p1[0] - p2[0]) + (p1[1] - p2[1]) * (p1[1] - p2[1]));
+  return d;
 }
 
 double dist3(vcg::Point3d p1, vcg::Point3d p2)
 {
-	double d = sqrt((p1[0] - p2[0]) * (p1[0] - p2[0]) + (p1[1] - p2[1]) * (p1[1] - p2[1]) + (p1[2] - p2[2]) * (p1[2] - p2[2]));
-	return d;
+  double d = sqrt((p1[0] - p2[0]) * (p1[0] - p2[0]) + (p1[1] - p2[1]) * (p1[1] - p2[1]) + (p1[2] - p2[2]) * (p1[2] - p2[2]));
+  return d;
 }
 
 double checkIdentity(vcg::Matrix44d M)
 {
-	double d;
+  double d;
 
-	d = (M.ElementAt(0,0) - 1.0) * (M.ElementAt(0,0) - 1.0) + M.ElementAt(0,1) * M.ElementAt(0,1) + M.ElementAt(0,2) * M.ElementAt(0,2) + M.ElementAt(0,3) * M.ElementAt(0,3);
-	d += M.ElementAt(1,0) * M.ElementAt(1,0) + (M.ElementAt(1,1) - 1.0) * (M.ElementAt(1,1) - 1.0) + M.ElementAt(1,2) * M.ElementAt(1,2) + M.ElementAt(1,3) * M.ElementAt(1,3);
-	d += M.ElementAt(2,0) * M.ElementAt(2,0) + M.ElementAt(2,1) * M.ElementAt(2,1) + (M.ElementAt(2,2) - 1.0) * (M.ElementAt(2,2) - 1.0) + M.ElementAt(2,3) * M.ElementAt(2,3);
-	d += M.ElementAt(3,0) * M.ElementAt(3,0) + M.ElementAt(3,1) * M.ElementAt(3,1) + M.ElementAt(3,2) * M.ElementAt(3,2) + (M.ElementAt(3,3) - 1.0) * (M.ElementAt(3,3) - 1.0);
+  d = (M.ElementAt(0,0) - 1.0) * (M.ElementAt(0,0) - 1.0) + M.ElementAt(0,1) * M.ElementAt(0,1) + M.ElementAt(0,2) * M.ElementAt(0,2) + M.ElementAt(0,3) * M.ElementAt(0,3);
+  d += M.ElementAt(1,0) * M.ElementAt(1,0) + (M.ElementAt(1,1) - 1.0) * (M.ElementAt(1,1) - 1.0) + M.ElementAt(1,2) * M.ElementAt(1,2) + M.ElementAt(1,3) * M.ElementAt(1,3);
+  d += M.ElementAt(2,0) * M.ElementAt(2,0) + M.ElementAt(2,1) * M.ElementAt(2,1) + (M.ElementAt(2,2) - 1.0) * (M.ElementAt(2,2) - 1.0) + M.ElementAt(2,3) * M.ElementAt(2,3);
+  d += M.ElementAt(3,0) * M.ElementAt(3,0) + M.ElementAt(3,1) * M.ElementAt(3,1) + M.ElementAt(3,2) * M.ElementAt(3,2) + (M.ElementAt(3,3) - 1.0) * (M.ElementAt(3,3) - 1.0);
 
-	return d;
+  return d;
 }
 
 // TEST1 - PROJECT A 3D POINT IN WORLD COORDINATE ON THE IMAGE PLANE
 ///////////////////////////////////////////////////////////////////////////////
 bool test1(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
 {
-	vcg::Point2d p1proj, p2proj;
+  vcg::Point2d p1proj, p2proj;
 
-	p1proj = shot1.Project(p1);
-	p2proj = shot2.Project(p2);
+  p1proj = shot1.Project(p1);
+  p2proj = shot2.Project(p2);
 
-	vcg::Point2d p1test(633.58101456110933, 327.22860336234237);
-	vcg::Point2d p2test(289.02943695191425, 315.42715619973069);
+  vcg::Point2d p1test(633.58101456110933, 327.22860336234237);
+  vcg::Point2d p2test(289.02943695191425, 315.42715619973069);
 
-	if (dist2(p1proj,p1test) > precision)
-		return false;
+  if (dist2(p1proj,p1test) > precision)
+    return false;
 
-	if (dist2(p2proj,p2test) > precision)
-		return false;
+  if (dist2(p2proj,p2test) > precision)
+    return false;
 
-	return true;
+  return true;
 }
 
 // TEST 2 - PROJECTION AND UNPROJECTION
 ///////////////////////////////////////////////////////////////////////////////
 bool test2(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
-{	
-	vcg::Point2d p1proj, p2proj;
+{
+  vcg::Point2d p1proj, p2proj;
 
-	p1proj = shot1.Project(p1);
-	p2proj = shot2.Project(p2);
+  p1proj = shot1.Project(p1);
+  p2proj = shot2.Project(p2);
 
-	vcg::Point3d p1unproj, p2unproj;
-	vcg::Point3d pcam1, pcam2;
+  vcg::Point3d p1unproj, p2unproj;
+  vcg::Point3d pcam1, pcam2;
 
-	pcam1 = shot1.ConvertWorldToCameraCoordinates(p1);
-	p1unproj = shot1.UnProject(p1proj, pcam1[2]);
-	pcam2 = shot2.ConvertWorldToCameraCoordinates(p2);
-	p2unproj = shot2.UnProject(p2proj, pcam2[2]);
+  pcam1 = shot1.ConvertWorldToCameraCoordinates(p1);
+  p1unproj = shot1.UnProject(p1proj, pcam1[2]);
+  pcam2 = shot2.ConvertWorldToCameraCoordinates(p2);
+  p2unproj = shot2.UnProject(p2proj, pcam2[2]);
 
-	if (dist3(p1, p1unproj) > precision)
-		return false;
+  if (dist3(p1, p1unproj) > precision)
+    return false;
 
-	if (dist3(p2, p2unproj) > precision)
-		return false;
+  if (dist3(p2, p2unproj) > precision)
+    return false;
 
-	return true;
+  return true;
 }
 
 // TEST 3 - DEPTH COMPUTATION
 ///////////////////////////////////////////////////////////////////////////////
 bool test3(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
 {
-	vcg::Point2d p1proj, p2proj;
+  vcg::Point2d p1proj, p2proj;
 
-	p1proj = shot1.Project(p1);
-	p2proj = shot2.Project(p2);
+  p1proj = shot1.Project(p1);
+  p2proj = shot2.Project(p2);
 
-	vcg::Point3d p1unproj, p2unproj;
+  vcg::Point3d p1unproj, p2unproj;
 
-	double depth1 = shot1.Depth(p1);
-	double depth2 = shot2.Depth(p2);
+  double depth1 = shot1.Depth(p1);
+  double depth2 = shot2.Depth(p2);
 
-	p1unproj = shot1.UnProject(p1proj, depth1);
-	p2unproj = shot2.UnProject(p2proj, depth2);
+  p1unproj = shot1.UnProject(p1proj, depth1);
+  p2unproj = shot2.UnProject(p2proj, depth2);
 
-	if (dist3(p1, p1unproj) > precision)
-		return false;
+  if (dist3(p1, p1unproj) > precision)
+    return false;
 
-	if (dist3(p2, p2unproj) > precision)
-		return false;
+  if (dist3(p2, p2unproj) > precision)
+    return false;
 
-	return true;
+  return true;
 }
 
 // TEST 4 - CAMERA CONVERSION - CONVERT FOCAL IN PIXELS IN FOCAL IN MM
 ///////////////////////////////////////////////////////////////////////////////
 bool test4(vcg::Shotd shot, vcg::Point3d p1)
 {
-	vcg::Shotd shotpx = shot;
+  vcg::Shotd shotpx = shot;
 
-	// we assume focal is in pixels
-	shotpx.Intrinsics.FocalMm = 1028.5949393128985805389837482;
-	shotpx.Intrinsics.PixelSizeMm[0] = 1.0;
-	shotpx.Intrinsics.PixelSizeMm[1] = 1.0;
+  // we assume focal is in pixels
+  shotpx.Intrinsics.FocalMm = 1028.5949393128985805389837482;
+  shotpx.Intrinsics.PixelSizeMm[0] = 1.0;
+  shotpx.Intrinsics.PixelSizeMm[1] = 1.0;
 
-	vcg::Point2d pproj;
-	pproj = shotpx.Project(p1);
+  vcg::Point2d pproj;
+  pproj = shotpx.Project(p1);
 
-	vcg::Point2d p1proj;
-	p1proj = shot.Project(p1);
+  vcg::Point2d p1proj;
+  p1proj = shot.Project(p1);
 
-	if(dist2(pproj, p1proj) > precision)
-		return false;
+  if(dist2(pproj, p1proj) > precision)
+    return false;
 
-	// CONVERSION - (ccd is assumed to be 35mm width)
-	shot.ConvertFocalToMM();
+  // CONVERSION - (ccd is assumed to be 35mm width)
+  shot.ConvertFocalToMM();
 
-	p1proj = shotpx.Project(p1);
+  p1proj = shotpx.Project(p1);
 
-	if (dist2(pproj, p1proj) > precision)
-		return false;
+  if (dist2(pproj, p1proj) > precision)
+    return false;
 
-	return true;
+  return true;
 }
 
 // TEST 5 - CAMERA-SHOT MODIFICATION - CHANGE SCALE FACTOR OF THE WORLD
 ///////////////////////////////////////////////////////////////////////////////
 bool test5(vcg::Shotd shot, vcg::Point3d p1, vcg::Point3d p2)
 {
-	vcg::Point2d p1projPX, p2projPX;
-	p1projPX = shot.Project(p1);
-	p2projPX = shot.Project(p2);
+  vcg::Point2d p1projPX, p2projPX;
+  p1projPX = shot.Project(p1);
+  p2projPX = shot.Project(p2);
 
-	vcg::Point2d p1proj, p2proj;
-	p1proj = shot.Intrinsics.ViewportPxToLocal(p1projPX);
-	p2proj = shot.Intrinsics.ViewportPxToLocal(p2projPX);
+  vcg::Point2d p1proj, p2proj;
+  p1proj = shot.Intrinsics.ViewportPxToLocal(p1projPX);
+  p2proj = shot.Intrinsics.ViewportPxToLocal(p2projPX);
 
-	vcg::Point2d diff;
-	double distance_before_world_scaling;
-	diff = (p2proj-p1proj);
+  vcg::Point2d diff;
+  double distance_before_world_scaling;
+  diff = (p2proj-p1proj);
   distance_before_world_scaling = diff.Norm();
 
-	// WORLD SCALING
-	double scalefactor = 20.0;
+  // WORLD SCALING
+  double scalefactor = 20.0;
 
-	// adjust World 3D points
-	p1 *= scalefactor;
-	p2 *= scalefactor;
+  // adjust World 3D points
+  p1 *= scalefactor;
+  p2 *= scalefactor;
 
-	shot.RescalingWorld(scalefactor);
+  shot.RescalingWorld(scalefactor);
 
-	p1projPX = shot.Project(p1);
-	p2projPX = shot.Project(p2);
+  p1projPX = shot.Project(p1);
+  p2projPX = shot.Project(p2);
 
-	p1proj = shot.Intrinsics.ViewportPxToLocal(p1projPX);
-	p2proj = shot.Intrinsics.ViewportPxToLocal(p2projPX);
+  p1proj = shot.Intrinsics.ViewportPxToLocal(p1projPX);
+  p2proj = shot.Intrinsics.ViewportPxToLocal(p2projPX);
 
-	double distance_after_world_scaling;
-	diff = (p2proj - p1proj);
-	distance_after_world_scaling = diff.Norm();
+  double distance_after_world_scaling;
+  diff = (p2proj - p1proj);
+  distance_after_world_scaling = diff.Norm();
 
-	if (std::fabs(distance_before_world_scaling - (distance_after_world_scaling / scalefactor)) > precision)
-		return false;
+  if (vcg::math::Abs(distance_before_world_scaling - (distance_after_world_scaling / scalefactor)) > precision)
+    return false;
 
-	return true;
+  return true;
 }
 
 // TEST 6 - WORLD-TO-EXTRINSICS AND EXTRINSICS-TO-WORLD TRANSFORMATIONS
 bool test6(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
 {
-	vcg::Matrix44d WtoE1 = shot1.GetWorldToExtrinsicsMatrix();
-	vcg::Matrix44d WtoE2 = shot2.GetWorldToExtrinsicsMatrix();
-	vcg::Matrix44d EtoW1 = shot1.GetExtrinsicsToWorldMatrix();
-	vcg::Matrix44d EtoW2 = shot2.GetExtrinsicsToWorldMatrix();
+  vcg::Matrix44d WtoE1 = shot1.GetWorldToExtrinsicsMatrix();
+  vcg::Matrix44d WtoE2 = shot2.GetWorldToExtrinsicsMatrix();
+  vcg::Matrix44d EtoW1 = shot1.GetExtrinsicsToWorldMatrix();
+  vcg::Matrix44d EtoW2 = shot2.GetExtrinsicsToWorldMatrix();
 
-	vcg::Matrix44d I1 = WtoE1 * EtoW1;
-	vcg::Matrix44d I2 = WtoE2 * EtoW2;
-	vcg::Matrix44d I3 = EtoW1 * WtoE1;
-	vcg::Matrix44d I4 = EtoW2 * WtoE2;
+  vcg::Matrix44d I1 = WtoE1 * EtoW1;
+  vcg::Matrix44d I2 = WtoE2 * EtoW2;
+  vcg::Matrix44d I3 = EtoW1 * WtoE1;
+  vcg::Matrix44d I4 = EtoW2 * WtoE2;
 
-	if (checkIdentity(I1) > precision)
-		return false;
+  if (checkIdentity(I1) > precision)
+    return false;
 
-	if (checkIdentity(I2) > precision)
-		return false;
+  if (checkIdentity(I2) > precision)
+    return false;
 
-	if (checkIdentity(I3) > precision)
-		return false;
+  if (checkIdentity(I3) > precision)
+    return false;
 
-	if (checkIdentity(I4) > precision)
-		return false;
+  if (checkIdentity(I4) > precision)
+    return false;
 
-	vcg::Point3d axisX(1.0, 0.0, 0.0);
-	vcg::Point3d axisY(0.0, 1.0, 0.0);
-	vcg::Point3d axisZ(0.0, 0.0, 1.0);
+  vcg::Point3d axisX(1.0, 0.0, 0.0);
+  vcg::Point3d axisY(0.0, 1.0, 0.0);
+  vcg::Point3d axisZ(0.0, 0.0, 1.0);
 
-	vcg::Point3d vx = EtoW1 * axisX;
-	vcg::Point3d vy = EtoW1 * axisY;
-	vcg::Point3d vz = EtoW1 * axisZ;
+  vcg::Point3d vx = EtoW1 * axisX;
+  vcg::Point3d vy = EtoW1 * axisY;
+  vcg::Point3d vz = EtoW1 * axisZ;
 
-	if (dist3(vx, shot1.Extrinsics.Tra() + shot1.Extrinsics.Rot().GetRow3(0)) > precision)
-		return false;
-	
-	if (dist3(vy, shot1.Extrinsics.Tra() + shot1.Extrinsics.Rot().GetRow3(1)) > precision)
-		return false;
-	
-	if (dist3(vz, shot1.Extrinsics.Tra() + shot1.Extrinsics.Rot().GetRow3(2)) > precision)
-		return false;
+  if (dist3(vx, shot1.Extrinsics.Tra() + shot1.Extrinsics.Rot().GetRow3(0)) > precision)
+    return false;
 
-	return true;
+  if (dist3(vy, shot1.Extrinsics.Tra() + shot1.Extrinsics.Rot().GetRow3(1)) > precision)
+    return false;
+
+  if (dist3(vz, shot1.Extrinsics.Tra() + shot1.Extrinsics.Rot().GetRow3(2)) > precision)
+    return false;
+
+  return true;
 }
 
 
@@ -233,124 +233,124 @@ bool test7(vcg::Shotd shot1, vcg::Point3d p1, vcg::Point3d p2)
   vcg::Matrix44d Rorig = shot1.Extrinsics.Rot();
   vcg::Point3d Torig = shot1.Extrinsics.Tra();
 
-	// pure translation
-	vcg::Matrix44d T;
+  // pure translation
+  vcg::Matrix44d T;
   T.SetIdentity();
   T.ElementAt(0,3) = 10.0;
   T.ElementAt(1,3) = 10.0;
   T.ElementAt(2,3) = 10.0;
-	T.ElementAt(3,3) = 1.0;
+  T.ElementAt(3,3) = 1.0;
 
-	vcg::Point2d p1proj = shot1.Project(p1);
+  vcg::Point2d p1proj = shot1.Project(p1);
 
-	vcg::Point3d tr(T.ElementAt(0,3), T.ElementAt(1,3), T.ElementAt(2,3));
-	vcg::Point3d pt = p1 + tr;
-	shot1.ApplyRigidTransformation(T);
-	vcg::Point2d ptproj = shot1.Project(pt);
+  vcg::Point3d tr(T.ElementAt(0,3), T.ElementAt(1,3), T.ElementAt(2,3));
+  vcg::Point3d pt = p1 + tr;
+  shot1.ApplyRigidTransformation(T);
+  vcg::Point2d ptproj = shot1.Project(pt);
 
-	if (dist2(p1proj, ptproj) > precision)
-		return false;
+  if (dist2(p1proj, ptproj) > precision)
+    return false;
 
   // restore the original reference frame to test another transformation
   shot1.Extrinsics.SetTra(Torig);
   shot1.Extrinsics.SetRot(Rorig);
 
-	// pure rotation
-	vcg::Matrix44d R;
-	R.SetZero();
-	R.ElementAt(0,2) = 1.0;
-	R.ElementAt(1,1) = 1.0;
-	R.ElementAt(2,0) = -1.0;
-	R.ElementAt(3,3) = 1.0;
+  // pure rotation
+  vcg::Matrix44d R;
+  R.SetZero();
+  R.ElementAt(0,2) = 1.0;
+  R.ElementAt(1,1) = 1.0;
+  R.ElementAt(2,0) = -1.0;
+  R.ElementAt(3,3) = 1.0;
 
-	vcg::Point3d pr = R * p1;
-	shot1.ApplyRigidTransformation(R);
-	vcg::Point2d prproj = shot1.Project(pr);
+  vcg::Point3d pr = R * p1;
+  shot1.ApplyRigidTransformation(R);
+  vcg::Point2d prproj = shot1.Project(pr);
 
-	if (dist2(p1proj, prproj) > precision)
-		return false;
+  if (dist2(p1proj, prproj) > precision)
+    return false;
 
   // restore the original reference frame to test another transformation
   shot1.Extrinsics.SetTra(Torig);
   shot1.Extrinsics.SetRot(Rorig);
 
-	// roto-translation
-	vcg::Matrix44d RT = T * R;
+  // roto-translation
+  vcg::Matrix44d RT = T * R;
 
-	vcg::Point3d prt = R * p1 + tr;
+  vcg::Point3d prt = R * p1 + tr;
   shot1.ApplyRigidTransformation(RT);
-	vcg::Point2d prtproj = shot1.Project(prt);
+  vcg::Point2d prtproj = shot1.Project(prt);
 
-	if (dist2(p1proj, prtproj) > precision)
-		return false;
+  if (dist2(p1proj, prtproj) > precision)
+    return false;
 
-	return true;
+  return true;
 }
 
 // TEST 8 - SHOT MODIFICATION - ROTATION + TRANSLATION
 ///////////////////////////////////////////////////////////////////////////////
 bool test8(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
 {
-	// put shot1 reference frame into the origin of the World coordinates system
-	vcg::Matrix44d M = shot1.GetWorldToExtrinsicsMatrix();
+  // put shot1 reference frame into the origin of the World coordinates system
+  vcg::Matrix44d M = shot1.GetWorldToExtrinsicsMatrix();
 
-	// NOTE: The roto-translation which maps the point p in World coordinates to the Shot frame
-	//       applied to the frame bring it in the world frame.
+  // NOTE: The roto-translation which maps the point p in World coordinates to the Shot frame
+  //       applied to the frame bring it in the world frame.
 
-	shot1.ApplyRigidTransformation(M);
+  shot1.ApplyRigidTransformation(M);
 
-	// then, put in the shot2 reference frame
-	M = shot2.GetExtrinsicsToWorldMatrix();
-	shot1.ApplyRigidTransformation(M);
+  // then, put in the shot2 reference frame
+  M = shot2.GetExtrinsicsToWorldMatrix();
+  shot1.ApplyRigidTransformation(M);
 
-	// test..
-	vcg::Point2d p1proj1, p2proj1, p1proj2, p2proj2;
-	p1proj1 = shot1.Project(p1);
-	p1proj2 = shot2.Project(p1);
+  // test..
+  vcg::Point2d p1proj1, p2proj1, p1proj2, p2proj2;
+  p1proj1 = shot1.Project(p1);
+  p1proj2 = shot2.Project(p1);
 
-	p2proj1 = shot1.Project(p2);
-	p2proj2 = shot2.Project(p2);
+  p2proj1 = shot1.Project(p2);
+  p2proj2 = shot2.Project(p2);
 
-	if (dist2(p1proj1, p1proj2) > precision)
-		return false;
+  if (dist2(p1proj1, p1proj2) > precision)
+    return false;
 
-	if (dist2(p2proj1, p2proj2) > precision)
-		return false;
+  if (dist2(p2proj1, p2proj2) > precision)
+    return false;
 
-	return true;
+  return true;
 }
 
 // TEST 9 - SHOT MODIFICATION - ROTATION + TRANSLATION
 ///////////////////////////////////////////////////////////////////////////////
 bool test9(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
 {
-	vcg::Matrix44d M1 = shot1.GetExtrinsicsToWorldMatrix();
-	vcg::Matrix44d M2 = shot2.GetWorldToExtrinsicsMatrix();
-	vcg::Matrix44d M;
-	M = M2 * M1;  // is the roto-translation that maps a point in the frame of Shot1 in a point in the frame of Shot2
-	// BUT M2 brings the frame of Shot2 in the World system and M1 brings the World system in the Shot1 reference frame
-	// HENCE the combined roto-translation which maps the frame of Shot2 in the frame of Shot2 is M1 * M2 (!!!)
+  vcg::Matrix44d M1 = shot1.GetExtrinsicsToWorldMatrix();
+  vcg::Matrix44d M2 = shot2.GetWorldToExtrinsicsMatrix();
+  vcg::Matrix44d M;
+  M = M2 * M1;  // is the roto-translation that maps a point in the frame of Shot1 in a point in the frame of Shot2
+  // BUT M2 brings the frame of Shot2 in the World system and M1 brings the World system in the Shot1 reference frame
+  // HENCE the combined roto-translation which maps the frame of Shot2 in the frame of Shot2 is M1 * M2 (!!!)
 
-	vcg::Matrix44d Mframe = M1 * M2;
+  vcg::Matrix44d Mframe = M1 * M2;
 
-	// apply it..
-	shot2.ApplyRigidTransformation(Mframe);
+  // apply it..
+  shot2.ApplyRigidTransformation(Mframe);
 
-	// and test it..
-	vcg::Point2d p1proj1, p2proj1, p1proj2, p2proj2;
-	p1proj1 = shot1.Project(p1);
-	p1proj2 = shot2.Project(p1);
+  // and test it..
+  vcg::Point2d p1proj1, p2proj1, p1proj2, p2proj2;
+  p1proj1 = shot1.Project(p1);
+  p1proj2 = shot2.Project(p1);
 
-	p2proj1 = shot1.Project(p2);
-	p2proj2 = shot2.Project(p2);
+  p2proj1 = shot1.Project(p2);
+  p2proj2 = shot2.Project(p2);
 
-	if (dist2(p1proj1, p1proj2) > precision)
-		return false;
+  if (dist2(p1proj1, p1proj2) > precision)
+    return false;
 
-	if (dist2(p2proj1, p2proj2) > precision)
-		return false;
+  if (dist2(p2proj1, p2proj2) > precision)
+    return false;
 
-	return true;
+  return true;
 }
 
 // TEST 10 - SHOT MODIFICATION - SIMILARITY
@@ -418,170 +418,170 @@ bool test10(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2
 }
 
 
-int main() 
+int main()
 {
-	vcg::Point3d p1(20.0, 25.0, 10.0);
-	vcg::Point3d p2(-6.0, 25.0, 50.0);
-	vcg::Shotd shot1;
-	vcg::Shotd shot2;
+  vcg::Point3d p1(20.0, 25.0, 10.0);
+  vcg::Point3d p2(-6.0, 25.0, 50.0);
+  vcg::Shotd shot1;
+  vcg::Shotd shot2;
 
-	// Initialize camera 1 (C1)
-	shot1.Intrinsics.cameraType = vcg::Camera<double>::PERSPECTIVE;
-	shot1.Intrinsics.FocalMm = 30.0;
-	shot1.Intrinsics.CenterPx[0] = 600.0; shot1.Intrinsics.CenterPx[1] = 400.0;
-	shot1.Intrinsics.ViewportPx[0] = 1200; shot1.Intrinsics.ViewportPx[1] = 800;
-	shot1.Intrinsics.PixelSizeMm[0] = 0.029166; shot1.Intrinsics.PixelSizeMm[1] = 0.029166;
+  // Initialize camera 1 (C1)
+  shot1.Intrinsics.cameraType = vcg::Camera<double>::PERSPECTIVE;
+  shot1.Intrinsics.FocalMm = 30.0;
+  shot1.Intrinsics.CenterPx[0] = 600.0; shot1.Intrinsics.CenterPx[1] = 400.0;
+  shot1.Intrinsics.ViewportPx[0] = 1200; shot1.Intrinsics.ViewportPx[1] = 800;
+  shot1.Intrinsics.PixelSizeMm[0] = 0.029166; shot1.Intrinsics.PixelSizeMm[1] = 0.029166;
 
-	// no distorion is assumed (!)
-	shot1.Intrinsics.DistorCenterPx[0] = shot1.Intrinsics.DistorCenterPx[1] = 0.0;
-	shot1.Intrinsics.k[0] = 0.0; shot1.Intrinsics.k[1] = 0.0; shot1.Intrinsics.k[2] = 0.0; shot1.Intrinsics.k[3] = 0.0; 
+  // no distorion is assumed (!)
+  shot1.Intrinsics.DistorCenterPx[0] = shot1.Intrinsics.DistorCenterPx[1] = 0.0;
+  shot1.Intrinsics.k[0] = 0.0; shot1.Intrinsics.k[1] = 0.0; shot1.Intrinsics.k[2] = 0.0; shot1.Intrinsics.k[3] = 0.0;
 
-	vcg::Matrix44d R1; // -10 degree around Y axis
-	double deg2rad = 0.01745329251994329576923690768489;
-	R1.ElementAt(0,0) = std::cos(-10.0*deg2rad);
-	R1.ElementAt(0,1) = 0.0;
-	R1.ElementAt(0,2) = std::sin(-10.0*deg2rad);
-	R1.ElementAt(0,3) = 0.0;
-	R1.ElementAt(1,0) = 0.0;
-	R1.ElementAt(1,1) = 1.0;
-	R1.ElementAt(1,2) = 0.0;
-	R1.ElementAt(1,3) = 0.0;
-	R1.ElementAt(2,0) = -std::sin(-10.0*deg2rad);
-	R1.ElementAt(2,1) = 0.0;
-	R1.ElementAt(2,2) = std::cos(-10.0*deg2rad);
-	R1.ElementAt(2,3) = 0.0;
-	R1.ElementAt(3,0) = 0.0;
-	R1.ElementAt(3,1) = 0.0;
-	R1.ElementAt(3,2) = 0.0;
-	R1.ElementAt(3,3) = 1.0;
+  vcg::Matrix44d R1; // -10 degree around Y axis
+  double deg2rad = 0.01745329251994329576923690768489;
+  R1.ElementAt(0,0) = vcg::math::Cos(-10.0*deg2rad);
+  R1.ElementAt(0,1) = 0.0;
+  R1.ElementAt(0,2) = vcg::math::Sin(-10.0*deg2rad);
+  R1.ElementAt(0,3) = 0.0;
+  R1.ElementAt(1,0) = 0.0;
+  R1.ElementAt(1,1) = 1.0;
+  R1.ElementAt(1,2) = 0.0;
+  R1.ElementAt(1,3) = 0.0;
+  R1.ElementAt(2,0) = -vcg::math::Sin(-10.0*deg2rad);
+  R1.ElementAt(2,1) = 0.0;
+  R1.ElementAt(2,2) = vcg::math::Cos(-10.0*deg2rad);
+  R1.ElementAt(2,3) = 0.0;
+  R1.ElementAt(3,0) = 0.0;
+  R1.ElementAt(3,1) = 0.0;
+  R1.ElementAt(3,2) = 0.0;
+  R1.ElementAt(3,3) = 1.0;
 
-	vcg::Point3d T1(30.0, 30.0, 80.0);
-	shot1.Extrinsics.SetTra(T1);
-	shot1.Extrinsics.SetRot(R1);
+  vcg::Point3d T1(30.0, 30.0, 80.0);
+  shot1.Extrinsics.SetTra(T1);
+  shot1.Extrinsics.SetRot(R1);
 
-	// Initialize camera 2 (C2)
-	shot2.Intrinsics.cameraType = vcg::Camera<double>::PERSPECTIVE;
-	shot2.Intrinsics.FocalMm = 30.0;
-	shot2.Intrinsics.CenterPx[0] = 600.0; shot2.Intrinsics.CenterPx[1] = 400.0;
-	shot2.Intrinsics.ViewportPx[0] = 1200; shot2.Intrinsics.ViewportPx[1] = 800;
-	shot2.Intrinsics.PixelSizeMm[0] = 0.029166; shot2.Intrinsics.PixelSizeMm[1] = 0.029166;
+  // Initialize camera 2 (C2)
+  shot2.Intrinsics.cameraType = vcg::Camera<double>::PERSPECTIVE;
+  shot2.Intrinsics.FocalMm = 30.0;
+  shot2.Intrinsics.CenterPx[0] = 600.0; shot2.Intrinsics.CenterPx[1] = 400.0;
+  shot2.Intrinsics.ViewportPx[0] = 1200; shot2.Intrinsics.ViewportPx[1] = 800;
+  shot2.Intrinsics.PixelSizeMm[0] = 0.029166; shot2.Intrinsics.PixelSizeMm[1] = 0.029166;
 
-	// no distortion is assumed (!)
-	shot2.Intrinsics.DistorCenterPx[0] = shot2.Intrinsics.DistorCenterPx[1] = 0.0;
-	shot2.Intrinsics.k[0] = 0.0; shot2.Intrinsics.k[1] = 0.0; shot2.Intrinsics.k[2] = 0.0; shot2.Intrinsics.k[3] = 0.0; 
+  // no distortion is assumed (!)
+  shot2.Intrinsics.DistorCenterPx[0] = shot2.Intrinsics.DistorCenterPx[1] = 0.0;
+  shot2.Intrinsics.k[0] = 0.0; shot2.Intrinsics.k[1] = 0.0; shot2.Intrinsics.k[2] = 0.0; shot2.Intrinsics.k[3] = 0.0;
 
 
-	vcg::Matrix44d R2; // 18 degree around Y axis (+ 180 degree for the correct orientation of the camera)
-	R2.ElementAt(0,0) = std::cos(-45.0*deg2rad);
-	R2.ElementAt(0,1) = 0.0;
-	R2.ElementAt(0,2) = std::sin(-45.0*deg2rad);
-	R2.ElementAt(0,3) = 0.0;
-	R2.ElementAt(1,0) = 0.0;
-	R2.ElementAt(1,1) = 1.0;
-	R2.ElementAt(1,2) = 0.0;
-	R2.ElementAt(1,3) = 0.0;
-	R2.ElementAt(2,0) = -std::sin(-45.0*deg2rad);
-	R2.ElementAt(2,1) = 0.0;
-	R2.ElementAt(2,2) = std::cos(-45.0*deg2rad);
-	R2.ElementAt(2,3) = 0.0;
-	R2.ElementAt(3,0) = 0.0;
-	R2.ElementAt(3,1) = 0.0;
-	R2.ElementAt(3,2) = 0.0;
-	R2.ElementAt(3,3) = 1.0;
+  vcg::Matrix44d R2; // 18 degree around Y axis (+ 180 degree for the correct orientation of the camera)
+  R2.ElementAt(0,0) = vcg::math::Cos(-45.0*deg2rad);
+  R2.ElementAt(0,1) = 0.0;
+  R2.ElementAt(0,2) = vcg::math::Sin(-45.0*deg2rad);
+  R2.ElementAt(0,3) = 0.0;
+  R2.ElementAt(1,0) = 0.0;
+  R2.ElementAt(1,1) = 1.0;
+  R2.ElementAt(1,2) = 0.0;
+  R2.ElementAt(1,3) = 0.0;
+  R2.ElementAt(2,0) = -vcg::math::Sin(-45.0*deg2rad);
+  R2.ElementAt(2,1) = 0.0;
+  R2.ElementAt(2,2) = vcg::math::Cos(-45.0*deg2rad);
+  R2.ElementAt(2,3) = 0.0;
+  R2.ElementAt(3,0) = 0.0;
+  R2.ElementAt(3,1) = 0.0;
+  R2.ElementAt(3,2) = 0.0;
+  R2.ElementAt(3,3) = 1.0;
 
-	vcg::Point3d T2(50.0, 30.0, 80.0);
-	shot2.Extrinsics.SetTra(T2);
-	shot2.Extrinsics.SetRot(R2);
+  vcg::Point3d T2(50.0, 30.0, 80.0);
+  shot2.Extrinsics.SetTra(T2);
+  shot2.Extrinsics.SetRot(R2);
 
 
-	// TEST 1 - project a 3D point in World coordinates on the image plane
-	if (test1(shot1, shot2, p1, p2))
-	{
-		std::cout << "TEST 1 (projection) - PASSED(!)" << std::endl;
-	}
-	else 
-		std::cout << "TEST 1 (projection) - FAILED(!)" << std::endl;
+  // TEST 1 - project a 3D point in World coordinates on the image plane
+  if (test1(shot1, shot2, p1, p2))
+  {
+    std::cout << "TEST 1 (projection) - PASSED(!)" << std::endl;
+  }
+  else
+    std::cout << "TEST 1 (projection) - FAILED(!)" << std::endl;
 
-	// TEST 2 - projection and unprojection
-	if (test2(shot1, shot2, p1, p2))
-	{
-		std::cout << "TEST 2 (unprojection) - PASSED(!)" << std::endl;
-	}
-	else
-	{
-		std::cout << "TEST 2 (unprojection) - FAILED(!)" << std::endl;
-	}
+  // TEST 2 - projection and unprojection
+  if (test2(shot1, shot2, p1, p2))
+  {
+    std::cout << "TEST 2 (unprojection) - PASSED(!)" << std::endl;
+  }
+  else
+  {
+    std::cout << "TEST 2 (unprojection) - FAILED(!)" << std::endl;
+  }
 
-	// TEST 3 - DEPTH COMPUTATION
-	if (test3(shot1, shot2, p1, p2))
-	{
-		std::cout << "TEST 3 (depth computation) - PASSED(!)" << std::endl;
-	}
-	else
-	{
-		std::cout << "TEST 3 (depth computation) - FAILED(!)" << std::endl;
-	}
+  // TEST 3 - DEPTH COMPUTATION
+  if (test3(shot1, shot2, p1, p2))
+  {
+    std::cout << "TEST 3 (depth computation) - PASSED(!)" << std::endl;
+  }
+  else
+  {
+    std::cout << "TEST 3 (depth computation) - FAILED(!)" << std::endl;
+  }
 
 
-	// TEST 4 - CAMERA CONVERSION - CONVERT FOCAL IN PIXELS IN FOCAL IN MM
-	if (test4(shot1, p1))
-	{
-		std::cout << "TEST 4 (focal in px to focal in mm) - PASSED(!)" << std::endl;
-	}
-	else
-	{
-		std::cout << "TEST 4 (focal in px to focal in mm) - FAILED(!)" << std::endl;
-	}
+  // TEST 4 - CAMERA CONVERSION - CONVERT FOCAL IN PIXELS IN FOCAL IN MM
+  if (test4(shot1, p1))
+  {
+    std::cout << "TEST 4 (focal in px to focal in mm) - PASSED(!)" << std::endl;
+  }
+  else
+  {
+    std::cout << "TEST 4 (focal in px to focal in mm) - FAILED(!)" << std::endl;
+  }
 
-	// TEST 5 - CAMERA-SHOT MODIFICATION - CHANGE SCALE FACTOR OF THE WORLD
-	if (test5(shot1, p1, p2))
-	{
-		std::cout << "TEST 5 (scaling the World) - PASSED(!)" << std::endl;
-	}
-	else
-	{
-		std::cout << "TEST 5 (scaling the World) - FAILED(!)" << std::endl;
-	}
+  // TEST 5 - CAMERA-SHOT MODIFICATION - CHANGE SCALE FACTOR OF THE WORLD
+  if (test5(shot1, p1, p2))
+  {
+    std::cout << "TEST 5 (scaling the World) - PASSED(!)" << std::endl;
+  }
+  else
+  {
+    std::cout << "TEST 5 (scaling the World) - FAILED(!)" << std::endl;
+  }
 
-	// TEST 6 - WORLD-TO-EXTRINSICS AND EXTRINSICS-TO-WORLD TRANSFORMATIONS
-	if (test6(shot1, shot2, p1, p2))
-	{
-		std::cout << "TEST 6 (World-to-Extrinsics and Extrinsics-to-World) - PASSED(!)" << std::endl;
-	}
-	else
-	{
-		std::cout << "TEST 6 (World-to-Extrinsics and Extrinsics-to-World) - FAILE(!)" << std::endl;
-	}
+  // TEST 6 - WORLD-TO-EXTRINSICS AND EXTRINSICS-TO-WORLD TRANSFORMATIONS
+  if (test6(shot1, shot2, p1, p2))
+  {
+    std::cout << "TEST 6 (World-to-Extrinsics and Extrinsics-to-World) - PASSED(!)" << std::endl;
+  }
+  else
+  {
+    std::cout << "TEST 6 (World-to-Extrinsics and Extrinsics-to-World) - FAILE(!)" << std::endl;
+  }
 
-	// TEST 7 - SHOT MODIFICATION - ROTO-TRANSLATION OF THE SHOT COORDINATES SYSTEM
-	if (test7(shot1, p1, p2))
-	{
-		std::cout << "TEST 7 (roto-translation of the Shot coordinates system) - PASSED(!)" << std::endl;
-	}
-	else
-	{
-		std::cout << "TEST 7 (roto-translation of the Shot coordinates system) - FAILED(!)" << std::endl;
-	}
+  // TEST 7 - SHOT MODIFICATION - ROTO-TRANSLATION OF THE SHOT COORDINATES SYSTEM
+  if (test7(shot1, p1, p2))
+  {
+    std::cout << "TEST 7 (roto-translation of the Shot coordinates system) - PASSED(!)" << std::endl;
+  }
+  else
+  {
+    std::cout << "TEST 7 (roto-translation of the Shot coordinates system) - FAILED(!)" << std::endl;
+  }
 
-	// TEST 7 - SHOT MODIFICATION - ROTO-TRANSLATION OF THE SHOT COORDINATES SYSTEM
-	if (test8(shot1, shot2, p1, p2))
-	{
-		std::cout << "TEST 8 (roto-translation of the Shot coordinates system) - PASSED(!)" << std::endl;
-	}
-	else
-	{
-		std::cout << "TEST 8 (roto-translation of the Shot coordinates system) - FAILED(!)" << std::endl;
-	}	
-	
-	// TEST 9 - SHOT MODIFICATION - ROTO-TRANSLATION OF THE SHOT COORDINATES SYSTEM
-	if (test9(shot1, shot2, p1, p2))
-	{
-		std::cout << "TEST 9 (roto-translation of the Shot coordinates system) - PASSED(!)" << std::endl;
-	}
-	else
-	{
-		std::cout << "TEST 9 (roto-translation of the Shot coordinates system) - FAILED(!)" << std::endl;
-	}
+  // TEST 7 - SHOT MODIFICATION - ROTO-TRANSLATION OF THE SHOT COORDINATES SYSTEM
+  if (test8(shot1, shot2, p1, p2))
+  {
+    std::cout << "TEST 8 (roto-translation of the Shot coordinates system) - PASSED(!)" << std::endl;
+  }
+  else
+  {
+    std::cout << "TEST 8 (roto-translation of the Shot coordinates system) - FAILED(!)" << std::endl;
+  }
+
+  // TEST 9 - SHOT MODIFICATION - ROTO-TRANSLATION OF THE SHOT COORDINATES SYSTEM
+  if (test9(shot1, shot2, p1, p2))
+  {
+    std::cout << "TEST 9 (roto-translation of the Shot coordinates system) - PASSED(!)" << std::endl;
+  }
+  else
+  {
+    std::cout << "TEST 9 (roto-translation of the Shot coordinates system) - FAILED(!)" << std::endl;
+  }
 
   // TEST 10 - SHOT MODIFICATION - SIMILARITY TRANSFORMATION
   if (test10(shot1, shot2, p1, p2))