 
 void BirdsEyeView::initialize()
 {
-	//double e6 =  getTickCount();
-
-	//Size size =  image.size();
-	//this->imSize = {size.width, size.height};
+	
 	this->imSize = {IMAGE_WIDTH_GRAY, IMAGE_HEIGHT_GRAY};
 
 	float res = (this->bevParams)->bev_res;

	}
	

	//double e4 = getTickCount();
	
	//double time_to_populate = (e4 -e3)/getTickCount();
	//cout<<"Time to Populate \t"<<time_to_populate<<endl;

	this->uvMat = uv_mat;

	//double e7 = getTickCount();
	//double time_for_init = (e7-e6)/getTickFrequency();

	//cout<<"Time for init"<<time_for_init<<endl;
	
	this->numBRows = uv_mat.size();
	this->numBColumns = uv_mat[0].size();

	
	//double e3 = getTickCount();
	
	for(row_x = x_mesh_vec.begin(), row_z = z_mesh_vec.begin(), 
		row_y  = y_world.begin(), row_uv_0 = uv_mat[0].begin(), row_uv_1 = uv_mat[1].begin(),
		row_uv_2 = uv_mat[2].begin(); row_x != x_mesh_vec.end(); row_x++, row_z++, row_y++, row_uv_0++, row_uv_1++, row_uv_2++)
