From 0ab8018028eff272591861921bef455d28435db7 Mon Sep 17 00:00:00 2001
From: akira_you <you.akira.noda@gmail.com>
Date: Sun, 26 Mar 2017 06:29:29 +0900
Subject: [PATCH] No need to align on VecX

---
 src/FullSystem/CoarseInitializer.h         |  2 +-
 src/FullSystem/FullSystem.cpp              |  2 +-
 src/FullSystem/FullSystem.h                | 10 +++++-----
 src/FullSystem/FullSystemOptimize.cpp      | 12 ++++++------
 src/FullSystem/Residuals.h                 |  2 +-
 src/OptimizationBackend/EnergyFunctional.h | 10 +++++-----
 src/util/NumType.h                         |  4 +---
 7 files changed, 20 insertions(+), 22 deletions(-)

diff --git a/src/FullSystem/CoarseInitializer.h b/src/FullSystem/CoarseInitializer.h
index 2ab4c7409..54c48c669 100644
--- a/src/FullSystem/CoarseInitializer.h
+++ b/src/FullSystem/CoarseInitializer.h
@@ -78,7 +78,7 @@ struct Pnt
 
 class CoarseInitializer {
 public:
-	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+	EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
 	CoarseInitializer(int w, int h);
 	~CoarseInitializer();
 
diff --git a/src/FullSystem/FullSystem.cpp b/src/FullSystem/FullSystem.cpp
index d6b4ecc02..516f6ccec 100644
--- a/src/FullSystem/FullSystem.cpp
+++ b/src/FullSystem/FullSystem.cpp
@@ -1446,7 +1446,7 @@ void FullSystem::printEigenValLine()
 		variancesLog->flush();
 	}
 
-	vectorA<VecX> &nsp = ef->lastNullspaces_forLogging;
+	std::vector<VecX> &nsp = ef->lastNullspaces_forLogging;
 	(*nullspacesLog) << allKeyFramesHistory.back()->id << " ";
 	for(unsigned int i=0;i<nsp.size();i++)
 		(*nullspacesLog) << nsp[i].dot(ef->lastHS * nsp[i]) << " " << nsp[i].dot(ef->lastbS) << " " ;
diff --git a/src/FullSystem/FullSystem.h b/src/FullSystem/FullSystem.h
index 0674adee0..2825723df 100644
--- a/src/FullSystem/FullSystem.h
+++ b/src/FullSystem/FullSystem.h
@@ -210,11 +210,11 @@ class FullSystem {
 
 	void debugPlotTracking();
 
-	vectorA<VecX> getNullspaces(
-			vectorA<VecX> &nullspaces_pose,
-			vectorA<VecX> &nullspaces_scale,
-			vectorA<VecX> &nullspaces_affA,
-			vectorA<VecX> &nullspaces_affB);
+	std::vector<VecX> getNullspaces(
+			std::vector<VecX> &nullspaces_pose,
+			std::vector<VecX> &nullspaces_scale,
+			std::vector<VecX> &nullspaces_affA,
+			std::vector<VecX> &nullspaces_affB);
 
 	void setNewFrameEnergyTH();
 
diff --git a/src/FullSystem/FullSystemOptimize.cpp b/src/FullSystem/FullSystemOptimize.cpp
index 30a4017a0..74af9c17d 100644
--- a/src/FullSystem/FullSystemOptimize.cpp
+++ b/src/FullSystem/FullSystemOptimize.cpp
@@ -655,11 +655,11 @@ void FullSystem::removeOutliers()
 
 
 
-vectorA<VecX> FullSystem::getNullspaces(
-		vectorA<VecX> &nullspaces_pose,
-		vectorA<VecX> &nullspaces_scale,
-		vectorA<VecX> &nullspaces_affA,
-		vectorA<VecX> &nullspaces_affB)
+std::vector<VecX> FullSystem::getNullspaces(
+		std::vector<VecX> &nullspaces_pose,
+		std::vector<VecX> &nullspaces_scale,
+		std::vector<VecX> &nullspaces_affA,
+		std::vector<VecX> &nullspaces_affB)
 {
 	nullspaces_pose.clear();
 	nullspaces_scale.clear();
@@ -668,7 +668,7 @@ vectorA<VecX> FullSystem::getNullspaces(
 
 
 	int n=CPARS+frameHessians.size()*8;
-	vectorA<VecX> nullspaces_x0_pre;
+	std::vector<VecX> nullspaces_x0_pre;
 	for(int i=0;i<6;i++)
 	{
 		VecX nullspace_x0(n);
diff --git a/src/FullSystem/Residuals.h b/src/FullSystem/Residuals.h
index 9663a3000..17745fe81 100644
--- a/src/FullSystem/Residuals.h
+++ b/src/FullSystem/Residuals.h
@@ -100,7 +100,7 @@ class PointFrameResidual
 
 	void debugPlot();
 
-	void printRows(vectorA<VecX> &v, VecX &r, int nFrames, int nPoints, int M, int res);
+	void printRows(std::vector<VecX> &v, VecX &r, int nFrames, int nPoints, int M, int res);
 };
 }
 
diff --git a/src/OptimizationBackend/EnergyFunctional.h b/src/OptimizationBackend/EnergyFunctional.h
index deba36100..16d8bb920 100644
--- a/src/OptimizationBackend/EnergyFunctional.h
+++ b/src/OptimizationBackend/EnergyFunctional.h
@@ -105,11 +105,11 @@ class EnergyFunctional {
 	MatXX lastHS;
 	VecX lastbS;
 	VecX lastX;
-	vectorA<VecX> lastNullspaces_forLogging;
-	vectorA<VecX> lastNullspaces_pose;
-	vectorA<VecX> lastNullspaces_scale;
-	vectorA<VecX> lastNullspaces_affA;
-	vectorA<VecX> lastNullspaces_affB;
+	std::vector<VecX> lastNullspaces_forLogging;
+	std::vector<VecX> lastNullspaces_pose;
+	std::vector<VecX> lastNullspaces_scale;
+	std::vector<VecX> lastNullspaces_affA;
+	std::vector<VecX> lastNullspaces_affB;
 
 	IndexThreadReduce<Vec10>* red;
 
diff --git a/src/util/NumType.h b/src/util/NumType.h
index 5872e1555..a12d42073 100644
--- a/src/util/NumType.h
+++ b/src/util/NumType.h
@@ -27,12 +27,10 @@
 #include "Eigen/Core"
 #include "sophus/sim3.hpp"
 #include "sophus/se3.hpp"
-#include <vector>
+
 
 namespace dso
 {
-template <class T, class Allocator =  Eigen::aligned_allocator<std::pair<const int,T>>   >
-using vectorA = std::vector< T, Allocator > ;
 
 // CAMERA MODEL TO USE