 
 void Calibration::setup_calib(matrix_t P2, matrix_t R0_rect, matrix_t Tr_cam_to_road)
 {
-	//double e1 = getTickCount();
 	this->P2 = P2;
 	(this->R0_Rect).resize(4,row_t(4,0));
-
-	
-	/*
-	* Slower than iterator
-	for(int i = 0;i<R0_rect.size();i++)
-	{
-		std::copy(R0_rect[i].begin(), R0_rect[i].end(), (this->R0_Rect)[i].begin());
-	}
-	*/
 	
 	matrix_t::iterator row,i;
 	row_t::iterator column,j;


	}
	this->Tr33 = this->Tr;
	
	//double e2 = getTickCount();
	//double time =  (e2 - e1)/getTickFrequency();

	//cout<<"Time for Calibration"<<time<<endl;

}



void BirdsEyeView::initialize()
{
	
	this->imSize = {IMAGE_WIDTH_GRAY, IMAGE_HEIGHT_GRAY};

	float res = (this->bevParams)->bev_res;
