 	bev.setup(P2, R0_rect, Tr_cam_to_road);
 	
 	bev.initialize(test_image);
-	bev.computeLookUpTable();
-
-
-}
+	bev.computeLookUpTable(test_image);
+
+
+}

	thrust::copy_if(result_begin, result_end, uv_begin, checkSanity());

*/

	/*
	for(int i =0;i<numCol;i++)
		cout<<"items"<<result_row_0[i]<<"\t";
	cout<<endl;
	*/

	//device_vector<float> xi_1, yi_1;

	double e4 = getTickCount();
	double time_for_alloc = (e4-e3)/getTickFrequency();

	cout<<"Time for Alloc \t"<<time_for_alloc<<endl;
	


	/*
	for(int i =0;i<numCol;i++)
	{
		if((*(result_row_1 + i) >=1) & (*(result_row_0 +i) >=1) &
						(*(result_row_1 + i) <= this->imSize.b) &
						(*(result_row_0 + i) <= this->imSize.a) )
		{
			//cout<<"Value_c \t"<<*(result_row_0 + i)<<"\t"<<"Values_y\t"<<*(result_row_1 +i)<<endl;
		//	*(xi_1 + i) = *(result_row_0 + i);
		//	*(yi_1 + i) = *(result_row_1 + i);
			z_vec_sel.push_back(z_index_vec_copy[i]);
			x_vec_sel.push_back(x_index_vec_copy[i]);
			
		}

	}
	*/

	double e2 = getTickCount();
	double time_lookup = (e2 -e1)/getTickFrequency();
	cout<<"Time for lookup \t"<<time_lookup<<endl;
	if(debug)
	{
		//for(const auto& i : z_vec_sel)
		//	cout<<i<<"\t";
    	//cout<<endl;
	}
	


}



		
}

void BirdsEyeView::computeLookUpTable(Mat& image)
{

	double e1 = getTickCount();
