From 262fadf50b4463554d496f73573b7257a2abceec Mon Sep 17 00:00:00 2001
From: Miller
Date: Mon, 3 Jul 2017 20:59:45 -0500
Subject: cc version

---
 Makefile       | 2 +-
 src/body.h     | 1 +
 src/camera.h   | 4 +++-
 src/feature.h  | 3 ++-
 src/state.h    | 1 +
 src/types.h    | 5 +++--
 src/vision.cpp | 4 ++--
 src/vision.h   | 2 +-
 8 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/Makefile b/Makefile
index e7f3390..30b5133 100644
--- a/Makefile
+++ b/Makefile
@@ -1,6 +1,6 @@
 OBJECT=src/main.o src/body.o src/state.o src/feature.o src/camera.o src/ourerr.o src/vision.o #src/filter.o
 SRCS=$(patsubst %.o,%.cpp,$(OBJECT))
-CXXFLAGS+=-O2 -march=native -std=c++11 -pipe -msse3 
+CXXFLAGS+=-O2 -std=c++11 -pipe -msse3 
 CXXFLAGS+=-g
 CXXFLAGS+=$(shell pkg-config --cflags eigen3 yaml-cpp)
 CXXFLAGS+=$(shell pkg-config --cflags opencv)
diff --git a/src/body.h b/src/body.h
index 09c8e10..6675d5c 100644
--- a/src/body.h
+++ b/src/body.h
@@ -34,6 +34,7 @@ using std::endl;
 class Body
 {
     public:
+	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
         /* ====================  LIFECYCLE     ======================================= */
         Body (){ gravity_world << 0.,0.,9.80655; };                             /* constructor */
 
diff --git a/src/camera.h b/src/camera.h
index 9cb8254..51e4e8a 100644
--- a/src/camera.h
+++ b/src/camera.h
@@ -1,9 +1,10 @@
 #ifndef  camera_INC
 #define  camera_INC
-#include <cv.h>
+#include <opencv2/core.hpp>
 #include <Eigen/Dense>
 #include <iostream>
 #include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
 #include <yaml-cpp/yaml.h>
 
 #include "types.h"
@@ -28,6 +29,7 @@ class Camera
 {
     public:
         /* ====================  LIFECYCLE     ======================================= */
+	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
         Camera (const char *fin);                             /* constructor */
 
         /* ====================  ACCESSORS     ======================================= */
diff --git a/src/feature.h b/src/feature.h
index 37aa351..e3ec2b8 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -1,6 +1,6 @@
 #ifndef  feature_INC
 #define  feature_INC
-#include <cv.h>
+#include <opencv2/core.hpp>
 #include <Eigen/Dense>
 #include <iostream>
 
@@ -41,6 +41,7 @@ using std::endl;
 class Feature
 {
     public:
+        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
         /* ====================  LIFECYCLE     ======================================= */
         Feature ( int id, const Vector3d &xs, const Vector3d &xr,
                 const Vector3d &xbw, const Quaterniond &q, double z, Mat &p);
diff --git a/src/state.h b/src/state.h
index 70c73fe..a92f123 100644
--- a/src/state.h
+++ b/src/state.h
@@ -37,6 +37,7 @@ using std::vector;
 class State
 {
     public:
+        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
         /* ====================  LIFECYCLE     ======================================= */
         State ();                             /* constructor */
 
diff --git a/src/types.h b/src/types.h
index ac28f6f..ff0a089 100644
--- a/src/types.h
+++ b/src/types.h
@@ -1,7 +1,7 @@
 #ifndef  types_INC
 #define  types_INC
 
-#include <cv.h>
+#include <opencv2/core.hpp>
 #include <Eigen/Dense>
 #include <exception>
 #define MAXLINE 8192
@@ -16,6 +16,7 @@ using Eigen::Vector2d;
 using Eigen::Vector3d;
 using Eigen::Vector4d;
 
+typedef Eigen::Matrix<double,2,1,Eigen::DontAlign> UVector2d;
 // A struct for storing measurements.
 typedef enum {BOTH,REFLECTION,MONO,HEIGHT} measurement_type;
 typedef struct {
@@ -23,7 +24,7 @@ typedef struct {
     int id;
     Vector3d source, reflection;
     double height;
-    Vector2d Ssrc, Sref;
+    UVector2d Ssrc, Sref;
     cv::Mat patch, refpatch;
     double xcorrmax;
 } measurement_t;
diff --git a/src/vision.cpp b/src/vision.cpp
index b189dbd..27d4a7b 100644
--- a/src/vision.cpp
+++ b/src/vision.cpp
@@ -111,8 +111,8 @@ Vision::drawMeasurements ( const vector<measurement_t> &z, const Camera &cam,
 void
 Vision::show (  )
 {
-    cv::imshow("Image view", display);
-    cv::waitKey(1);
+    //cv::imshow("Image view", display);
+    //cv::waitKey(1);
     return ;
 }		/* -----  end of method Vision::show  ----- */
 
diff --git a/src/vision.h b/src/vision.h
index a0490d1..1bbc366 100644
--- a/src/vision.h
+++ b/src/vision.h
@@ -1,6 +1,6 @@
 #ifndef  vision_INC
 #define  vision_INC
-#include <cv.h>
+#include <opencv2/core.hpp>
 #include <Eigen/Dense>
 #include <iostream>
 #include <opencv2/highgui/highgui.hpp>
-- 
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