diff --git a/perception/object_detector/object_detector.cpp b/perception/object_detector/object_detector.cpp
index 41eb375d..7e8962ea 100644
--- a/perception/object_detector/object_detector.cpp
+++ b/perception/object_detector/object_detector.cpp
@@ -2,27 +2,26 @@
 
 namespace mrover {
 
-    ObjectDetectorBase::ObjectDetectorBase() : rclcpp::Node(NODE_NAME), mLoopProfiler{get_logger()}{
+    ObjectDetectorBase::ObjectDetectorBase() : rclcpp::Node(NODE_NAME), mLoopProfiler{get_logger()} {
 
-		auto paramSub = std::make_shared<rclcpp::ParameterEventHandler>(this);
+        auto paramSub = std::make_shared<rclcpp::ParameterEventHandler>(this);
 
-		std::vector<ParameterWrapper> params{
-			{"camera_frame", mCameraFrame},
-			{"world_frame", mWorldFrame},
-			{"increment_weight", mObjIncrementWeight},
-			{"decrement_weight", mObjDecrementWeight},
-			{"hitcount_threshold", mObjHitThreshold},
-			{"hitcount_max", mObjMaxHitcount},
-			{"model_name", mModelName},
-			{"model_score_threshold", mModelScoreThreshold},
-			{"model_nms_threshold", mModelNmsThreshold}
-		};
+        std::vector<ParameterWrapper> params{
+                {"camera_frame", mCameraFrame},
+                {"world_frame", mWorldFrame},
+                {"increment_weight", mObjIncrementWeight},
+                {"decrement_weight", mObjDecrementWeight},
+                {"hitcount_threshold", mObjHitThreshold},
+                {"hitcount_max", mObjMaxHitcount},
+                {"model_name", mModelName},
+                {"model_score_threshold", mModelScoreThreshold},
+                {"model_nms_threshold", mModelNmsThreshold}};
 
-		ParameterWrapper::declareParameters(this, paramSub, params);
+        ParameterWrapper::declareParameters(this, paramSub, params);
 
-		std::string packagePath{"/home/john/ros2_ws/src/mrover"};
+        std::string packagePath{"/home/john/ros2_ws/src/mrover"};
 
-		RCLCPP_INFO_STREAM(get_logger(), "Opening Model " << mModelName);
+        RCLCPP_INFO_STREAM(get_logger(), "Opening Model " << mModelName);
 
         mLearning = Learning{mModelName, packagePath};
 
@@ -31,10 +30,10 @@ namespace mrover {
         RCLCPP_INFO_STREAM(get_logger(), std::format("Object detector initialized with model: {} and thresholds: {} and {}", mModelName, mModelScoreThreshold, mModelNmsThreshold));
     }
 
-	StereoObjectDetector::StereoObjectDetector(){
-        mSensorSub = create_subscription<sensor_msgs::msg::PointCloud2>("/camera/left/points", 1, [this](sensor_msgs::msg::PointCloud2::UniquePtr const& msg){
-			StereoObjectDetector::pointCloudCallback(msg);
-		});
+    StereoObjectDetector::StereoObjectDetector() {
+        mSensorSub = create_subscription<sensor_msgs::msg::PointCloud2>("/camera/left/points", 1, [this](sensor_msgs::msg::PointCloud2::UniquePtr const& msg) {
+            StereoObjectDetector::pointCloudCallback(msg);
+        });
     }
 } // namespace mrover
 
diff --git a/perception/object_detector/object_detector.hpp b/perception/object_detector/object_detector.hpp
index 23567416..66854466 100644
--- a/perception/object_detector/object_detector.hpp
+++ b/perception/object_detector/object_detector.hpp
@@ -7,12 +7,11 @@ namespace mrover {
     class ObjectDetectorBase : public rclcpp::Node {
 
     protected:
+        static constexpr char const* NODE_NAME = "object_detector";
 
-		static constexpr char const* NODE_NAME = "object_detector";
-
-		std::unique_ptr<tf2_ros::Buffer> mTfBuffer = std::make_unique<tf2_ros::Buffer>(get_clock());
-		std::shared_ptr<tf2_ros::TransformBroadcaster> mTfBroadcaster = std::make_shared<tf2_ros::TransformBroadcaster>(this);
-		std::shared_ptr<tf2_ros::TransformListener> mTfListener = std::make_shared<tf2_ros::TransformListener>(*mTfBuffer);
+        std::unique_ptr<tf2_ros::Buffer> mTfBuffer = std::make_unique<tf2_ros::Buffer>(get_clock());
+        std::shared_ptr<tf2_ros::TransformBroadcaster> mTfBroadcaster = std::make_shared<tf2_ros::TransformBroadcaster>(this);
+        std::shared_ptr<tf2_ros::TransformListener> mTfListener = std::make_shared<tf2_ros::TransformListener>(*mTfBuffer);
 
         std::string mCameraFrame;
         std::string mWorldFrame;
@@ -26,8 +25,8 @@ namespace mrover {
         cv::Mat mRgbImage, mImageBlob;
         sensor_msgs::msg::Image mDetectionsImageMessage;
 
-		rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr mDebugImgPub;
-		rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr mSensorSub;
+        rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr mDebugImgPub;
+        rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr mSensorSub;
 
         // TODO(quintin): Do not hard code exactly two classes
         std::vector<int> mObjectHitCounts{0, 0};
@@ -58,8 +57,8 @@ namespace mrover {
     };
 
     class StereoObjectDetector final : public ObjectDetectorBase {
-	public:
-		explicit StereoObjectDetector();
+    public:
+        explicit StereoObjectDetector();
 
         static auto convertPointCloudToRGB(sensor_msgs::msg::PointCloud2::UniquePtr const& msg, cv::Mat const& image) -> void;
 
diff --git a/perception/object_detector/object_detector.processing.cpp b/perception/object_detector/object_detector.processing.cpp
index bfe79234..7ffa678b 100644
--- a/perception/object_detector/object_detector.processing.cpp
+++ b/perception/object_detector/object_detector.processing.cpp
@@ -149,7 +149,7 @@ namespace mrover {
         mDetectionsImageMessage.header.stamp = get_clock()->now();
         mDetectionsImageMessage.height = image.rows();
         mDetectionsImageMessage.width = image.cols();
-		mDetectionsImageMessage.encoding = sensor_msgs::image_encodings::BGRA8;
+        mDetectionsImageMessage.encoding = sensor_msgs::image_encodings::BGRA8;
         mDetectionsImageMessage.is_bigendian = __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__;
         mDetectionsImageMessage.step = 4 * mDetectionsImageMessage.width;
         mDetectionsImageMessage.data.resize(mDetectionsImageMessage.step * mDetectionsImageMessage.height);