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+/usr/include/eigen3/Eigen/src/Core/functors/StlFunctors.h
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+/usr/include/eigen3/Eigen/src/Core/functors/AssignmentFunctors.h
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+/usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h
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+/usr/include/eigen3/Eigen/src/Core/DenseBase.h
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+/usr/include/eigen3/Eigen/src/Core/MatrixBase.h
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+/usr/include/eigen3/Eigen/src/Core/EigenBase.h
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+/usr/include/eigen3/Eigen/src/Core/Product.h
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+/usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h
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+/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h
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+/usr/include/eigen3/Eigen/src/Core/Assign.h
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+/usr/include/eigen3/Eigen/src/Core/ArrayBase.h
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+/usr/include/eigen3/Eigen/src/Core/DenseStorage.h
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+/usr/include/eigen3/Eigen/src/Core/NestByValue.h
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+/usr/include/eigen3/Eigen/src/Core/ReturnByValue.h
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+/usr/include/eigen3/Eigen/src/Core/NoAlias.h
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+/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h
+src/Core/Matrix.h
+/usr/include/eigen3/Eigen/src/Core/Matrix.h
+src/Core/Array.h
+/usr/include/eigen3/Eigen/src/Core/Array.h
+src/Core/CwiseBinaryOp.h
+/usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h
+src/Core/CwiseUnaryOp.h
+/usr/include/eigen3/Eigen/src/Core/CwiseUnaryOp.h
+src/Core/CwiseNullaryOp.h
+/usr/include/eigen3/Eigen/src/Core/CwiseNullaryOp.h
+src/Core/CwiseUnaryView.h
+/usr/include/eigen3/Eigen/src/Core/CwiseUnaryView.h
+src/Core/SelfCwiseBinaryOp.h
 /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h
-
-/usr/include/eigen3/Eigen/src/Core/Solve.h
-
-/usr/include/eigen3/Eigen/src/Core/SolveTriangular.h
-
-/usr/include/eigen3/Eigen/src/Core/SolverBase.h
-
+src/Core/Dot.h
+/usr/include/eigen3/Eigen/src/Core/Dot.h
+src/Core/StableNorm.h
 /usr/include/eigen3/Eigen/src/Core/StableNorm.h
-
+src/Core/Stride.h
 /usr/include/eigen3/Eigen/src/Core/Stride.h
-
-/usr/include/eigen3/Eigen/src/Core/Swap.h
-
+src/Core/MapBase.h
+/usr/include/eigen3/Eigen/src/Core/MapBase.h
+src/Core/Map.h
+/usr/include/eigen3/Eigen/src/Core/Map.h
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+/usr/include/eigen3/Eigen/src/Core/Ref.h
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+/usr/include/eigen3/Eigen/src/Core/Block.h
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+/usr/include/eigen3/Eigen/src/Core/VectorBlock.h
+src/Core/Transpose.h
 /usr/include/eigen3/Eigen/src/Core/Transpose.h
-
+src/Core/DiagonalMatrix.h
+/usr/include/eigen3/Eigen/src/Core/DiagonalMatrix.h
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+/usr/include/eigen3/Eigen/src/Core/Diagonal.h
+src/Core/DiagonalProduct.h
+/usr/include/eigen3/Eigen/src/Core/DiagonalProduct.h
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+/usr/include/eigen3/Eigen/src/Core/Redux.h
+src/Core/Visitor.h
+/usr/include/eigen3/Eigen/src/Core/Visitor.h
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+/usr/include/eigen3/Eigen/src/Core/Fuzzy.h
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+/usr/include/eigen3/Eigen/src/Core/IO.h
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+/usr/include/eigen3/Eigen/src/Core/Swap.h
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+/usr/include/eigen3/Eigen/src/Core/CommaInitializer.h
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+/usr/include/eigen3/Eigen/src/Core/GeneralProduct.h
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+/usr/include/eigen3/Eigen/src/Core/Solve.h
+src/Core/Inverse.h
+/usr/include/eigen3/Eigen/src/Core/Inverse.h
+src/Core/SolverBase.h
+/usr/include/eigen3/Eigen/src/Core/SolverBase.h
+src/Core/PermutationMatrix.h
+/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h
+src/Core/Transpositions.h
 /usr/include/eigen3/Eigen/src/Core/Transpositions.h
-
+src/Core/TriangularMatrix.h
 /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h
-
-/usr/include/eigen3/Eigen/src/Core/VectorBlock.h
-
-/usr/include/eigen3/Eigen/src/Core/VectorwiseOp.h
-
-/usr/include/eigen3/Eigen/src/Core/Visitor.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/AVX/Complex.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/AVX/MathFunctions.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/AVX/PacketMath.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/AVX/TypeCasting.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/AVX512/MathFunctions.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/AVX512/PacketMath.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/AltiVec/Complex.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/AltiVec/MathFunctions.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/AltiVec/PacketMath.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/CUDA/Complex.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/CUDA/Half.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/CUDA/MathFunctions.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/CUDA/PacketMath.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/CUDA/PacketMathHalf.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/CUDA/TypeCasting.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/Default/ConjHelper.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/Default/Settings.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/NEON/Complex.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/NEON/MathFunctions.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/NEON/PacketMath.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/SSE/Complex.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/SSE/MathFunctions.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/SSE/TypeCasting.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/ZVector/Complex.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/ZVector/MathFunctions.h
-
-/usr/include/eigen3/Eigen/src/Core/arch/ZVector/PacketMath.h
-stdint.h
--
-
-/usr/include/eigen3/Eigen/src/Core/functors/AssignmentFunctors.h
-
-/usr/include/eigen3/Eigen/src/Core/functors/BinaryFunctors.h
-
-/usr/include/eigen3/Eigen/src/Core/functors/NullaryFunctors.h
-
-/usr/include/eigen3/Eigen/src/Core/functors/StlFunctors.h
-
-/usr/include/eigen3/Eigen/src/Core/functors/TernaryFunctors.h
-
-/usr/include/eigen3/Eigen/src/Core/functors/UnaryFunctors.h
-
+src/Core/SelfAdjointView.h
+/usr/include/eigen3/Eigen/src/Core/SelfAdjointView.h
+src/Core/products/GeneralBlockPanelKernel.h
 /usr/include/eigen3/Eigen/src/Core/products/GeneralBlockPanelKernel.h
-
+src/Core/products/Parallelizer.h
+/usr/include/eigen3/Eigen/src/Core/products/Parallelizer.h
+src/Core/ProductEvaluators.h
+/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h
+src/Core/products/GeneralMatrixVector.h
+/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixVector.h
+src/Core/products/GeneralMatrixMatrix.h
 /usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixMatrix.h
-
+src/Core/SolveTriangular.h
+/usr/include/eigen3/Eigen/src/Core/SolveTriangular.h
+src/Core/products/GeneralMatrixMatrixTriangular.h
 /usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
-
-/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h
-
-/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h
-
-/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixVector.h
-
-/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixVector_BLAS.h
-
-/usr/include/eigen3/Eigen/src/Core/products/Parallelizer.h
-
-/usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
-
-/usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h
-
+src/Core/products/SelfadjointMatrixVector.h
 /usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector.h
-
-/usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector_BLAS.h
-
+src/Core/products/SelfadjointMatrixMatrix.h
+/usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
+src/Core/products/SelfadjointProduct.h
 /usr/include/eigen3/Eigen/src/Core/products/SelfadjointProduct.h
-
+src/Core/products/SelfadjointRank2Update.h
 /usr/include/eigen3/Eigen/src/Core/products/SelfadjointRank2Update.h
-
-/usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixMatrix.h
-
-/usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h
-
+src/Core/products/TriangularMatrixVector.h
 /usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixVector.h
-
-/usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixVector_BLAS.h
-
+src/Core/products/TriangularMatrixMatrix.h
+/usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixMatrix.h
+src/Core/products/TriangularSolverMatrix.h
 /usr/include/eigen3/Eigen/src/Core/products/TriangularSolverMatrix.h
-
-/usr/include/eigen3/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h
-
+src/Core/products/TriangularSolverVector.h
 /usr/include/eigen3/Eigen/src/Core/products/TriangularSolverVector.h
-
-/usr/include/eigen3/Eigen/src/Core/util/BlasUtil.h
-
-/usr/include/eigen3/Eigen/src/Core/util/Constants.h
-
-/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
-
-/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h
-
-/usr/include/eigen3/Eigen/src/Core/util/MKL_support.h
-mkl.h
--
-../../misc/blas.h
-/usr/include/eigen3/Eigen/src/misc/blas.h
-
-/usr/include/eigen3/Eigen/src/Core/util/Macros.h
-cstdlib
--
-iostream
--
-
-/usr/include/eigen3/Eigen/src/Core/util/Memory.h
-
-/usr/include/eigen3/Eigen/src/Core/util/Meta.h
-cfloat
--
-math_constants.h
--
-cstdint
--
-
+src/Core/BandMatrix.h
+/usr/include/eigen3/Eigen/src/Core/BandMatrix.h
+src/Core/CoreIterators.h
+/usr/include/eigen3/Eigen/src/Core/CoreIterators.h
+src/Core/BooleanRedux.h
+/usr/include/eigen3/Eigen/src/Core/BooleanRedux.h
+src/Core/Select.h
+/usr/include/eigen3/Eigen/src/Core/Select.h
+src/Core/VectorwiseOp.h
+/usr/include/eigen3/Eigen/src/Core/VectorwiseOp.h
+src/Core/Random.h
+/usr/include/eigen3/Eigen/src/Core/Random.h
+src/Core/Replicate.h
+/usr/include/eigen3/Eigen/src/Core/Replicate.h
+src/Core/Reverse.h
+/usr/include/eigen3/Eigen/src/Core/Reverse.h
+src/Core/ArrayWrapper.h
+/usr/include/eigen3/Eigen/src/Core/ArrayWrapper.h
+src/Core/products/GeneralMatrixMatrix_MKL.h
+/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixMatrix_MKL.h
+src/Core/products/GeneralMatrixVector_MKL.h
+/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixVector_MKL.h
+src/Core/products/GeneralMatrixMatrixTriangular_MKL.h
+/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_MKL.h
+src/Core/products/SelfadjointMatrixMatrix_MKL.h
+/usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix_MKL.h
+src/Core/products/SelfadjointMatrixVector_MKL.h
+/usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector_MKL.h
+src/Core/products/TriangularMatrixMatrix_MKL.h
+/usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixMatrix_MKL.h
+src/Core/products/TriangularMatrixVector_MKL.h
+/usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixVector_MKL.h
+src/Core/products/TriangularSolverMatrix_MKL.h
+/usr/include/eigen3/Eigen/src/Core/products/TriangularSolverMatrix_MKL.h
+src/Core/Assign_MKL.h
+/usr/include/eigen3/Eigen/src/Core/Assign_MKL.h
+src/Core/GlobalFunctions.h
+/usr/include/eigen3/Eigen/src/Core/GlobalFunctions.h
+src/Core/util/ReenableStupidWarnings.h
 /usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
 
-/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h
-
-/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h
-
-/usr/include/eigen3/Eigen/src/Eigenvalues/./ComplexSchur.h
-./HessenbergDecomposition.h
-/usr/include/eigen3/Eigen/src/Eigenvalues/././HessenbergDecomposition.h
-
-/usr/include/eigen3/Eigen/src/Eigenvalues/./HessenbergDecomposition.h
-
-/usr/include/eigen3/Eigen/src/Eigenvalues/./RealQZ.h
-
-/usr/include/eigen3/Eigen/src/Eigenvalues/./RealSchur.h
-./HessenbergDecomposition.h
-/usr/include/eigen3/Eigen/src/Eigenvalues/././HessenbergDecomposition.h
-
-/usr/include/eigen3/Eigen/src/Eigenvalues/./Tridiagonalization.h
-
-/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexEigenSolver.h
-./ComplexSchur.h
-/usr/include/eigen3/Eigen/src/Eigenvalues/./ComplexSchur.h
-
-/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexSchur.h
-./HessenbergDecomposition.h
-/usr/include/eigen3/Eigen/src/Eigenvalues/./HessenbergDecomposition.h
-
-/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h
+/usr/include/eigen3/Eigen/Dense
+Core
+/usr/include/eigen3/Eigen/Core
+LU
+/usr/include/eigen3/Eigen/LU
+Cholesky
+/usr/include/eigen3/Eigen/Cholesky
+QR
+/usr/include/eigen3/Eigen/QR
+SVD
+/usr/include/eigen3/Eigen/SVD
+Geometry
+/usr/include/eigen3/Eigen/Geometry
+Eigenvalues
+/usr/include/eigen3/Eigen/Eigenvalues
 
+/usr/include/eigen3/Eigen/Eigenvalues
+Core
+/usr/include/eigen3/Eigen/Core
+src/Core/util/DisableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
+Cholesky
+/usr/include/eigen3/Eigen/Cholesky
+Jacobi
+/usr/include/eigen3/Eigen/Jacobi
+Householder
+/usr/include/eigen3/Eigen/Householder
+LU
+/usr/include/eigen3/Eigen/LU
+Geometry
+/usr/include/eigen3/Eigen/Geometry
+src/Eigenvalues/Tridiagonalization.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h
+src/Eigenvalues/RealSchur.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/RealSchur.h
+src/Eigenvalues/EigenSolver.h
 /usr/include/eigen3/Eigen/src/Eigenvalues/EigenSolver.h
-./RealSchur.h
-/usr/include/eigen3/Eigen/src/Eigenvalues/./RealSchur.h
-
-/usr/include/eigen3/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
-./RealQZ.h
-/usr/include/eigen3/Eigen/src/Eigenvalues/./RealQZ.h
-
+src/Eigenvalues/SelfAdjointEigenSolver.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
+src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
 /usr/include/eigen3/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
-./Tridiagonalization.h
-/usr/include/eigen3/Eigen/src/Eigenvalues/./Tridiagonalization.h
-
+src/Eigenvalues/HessenbergDecomposition.h
 /usr/include/eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h
-
-/usr/include/eigen3/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
-
+src/Eigenvalues/ComplexSchur.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexSchur.h
+src/Eigenvalues/ComplexEigenSolver.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexEigenSolver.h
+src/Eigenvalues/RealQZ.h
 /usr/include/eigen3/Eigen/src/Eigenvalues/RealQZ.h
+src/Eigenvalues/GeneralizedEigenSolver.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
+src/Eigenvalues/MatrixBaseEigenvalues.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
+src/Eigenvalues/RealSchur_MKL.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/RealSchur_MKL.h
+src/Eigenvalues/ComplexSchur_MKL.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexSchur_MKL.h
+src/Eigenvalues/SelfAdjointEigenSolver_MKL.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_MKL.h
+src/Core/util/ReenableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
 
-/usr/include/eigen3/Eigen/src/Eigenvalues/RealSchur.h
-./HessenbergDecomposition.h
-/usr/include/eigen3/Eigen/src/Eigenvalues/./HessenbergDecomposition.h
-
-/usr/include/eigen3/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h
-
-/usr/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
-./Tridiagonalization.h
-/usr/include/eigen3/Eigen/src/Eigenvalues/./Tridiagonalization.h
-
-/usr/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h
-
-/usr/include/eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h
-
-/usr/include/eigen3/Eigen/src/Geometry/AlignedBox.h
-
-/usr/include/eigen3/Eigen/src/Geometry/AngleAxis.h
-
+/usr/include/eigen3/Eigen/Geometry
+Core
+/usr/include/eigen3/Eigen/Core
+src/Core/util/DisableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
+SVD
+/usr/include/eigen3/Eigen/SVD
+LU
+/usr/include/eigen3/Eigen/LU
+limits
+-
+src/Geometry/OrthoMethods.h
+/usr/include/eigen3/Eigen/src/Geometry/OrthoMethods.h
+src/Geometry/EulerAngles.h
 /usr/include/eigen3/Eigen/src/Geometry/EulerAngles.h
-
+src/Geometry/Homogeneous.h
 /usr/include/eigen3/Eigen/src/Geometry/Homogeneous.h
-
-/usr/include/eigen3/Eigen/src/Geometry/Hyperplane.h
-
-/usr/include/eigen3/Eigen/src/Geometry/OrthoMethods.h
-
-/usr/include/eigen3/Eigen/src/Geometry/ParametrizedLine.h
-
-/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h
-
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h
-
+src/Geometry/RotationBase.h
 /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h
-
-/usr/include/eigen3/Eigen/src/Geometry/Scaling.h
-
+src/Geometry/Rotation2D.h
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h
+src/Geometry/Quaternion.h
+/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h
+src/Geometry/AngleAxis.h
+/usr/include/eigen3/Eigen/src/Geometry/AngleAxis.h
+src/Geometry/Transform.h
 /usr/include/eigen3/Eigen/src/Geometry/Transform.h
-
+src/Geometry/Translation.h
 /usr/include/eigen3/Eigen/src/Geometry/Translation.h
-
+src/Geometry/Scaling.h
+/usr/include/eigen3/Eigen/src/Geometry/Scaling.h
+src/Geometry/Hyperplane.h
+/usr/include/eigen3/Eigen/src/Geometry/Hyperplane.h
+src/Geometry/ParametrizedLine.h
+/usr/include/eigen3/Eigen/src/Geometry/ParametrizedLine.h
+src/Geometry/AlignedBox.h
+/usr/include/eigen3/Eigen/src/Geometry/AlignedBox.h
+src/Geometry/Umeyama.h
 /usr/include/eigen3/Eigen/src/Geometry/Umeyama.h
-
+src/Geometry/arch/Geometry_SSE.h
 /usr/include/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h
+src/Core/util/ReenableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
 
-/usr/include/eigen3/Eigen/src/Householder/BlockHouseholder.h
-
+/usr/include/eigen3/Eigen/Householder
+Core
+/usr/include/eigen3/Eigen/Core
+src/Core/util/DisableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
+src/Householder/Householder.h
 /usr/include/eigen3/Eigen/src/Householder/Householder.h
-
+src/Householder/HouseholderSequence.h
 /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h
+src/Householder/BlockHouseholder.h
+/usr/include/eigen3/Eigen/src/Householder/BlockHouseholder.h
+src/Core/util/ReenableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
 
+/usr/include/eigen3/Eigen/Jacobi
+Core
+/usr/include/eigen3/Eigen/Core
+src/Core/util/DisableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
+src/Jacobi/Jacobi.h
 /usr/include/eigen3/Eigen/src/Jacobi/Jacobi.h
+src/Core/util/ReenableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
 
-/usr/include/eigen3/Eigen/src/LU/Determinant.h
-
+/usr/include/eigen3/Eigen/LU
+Core
+/usr/include/eigen3/Eigen/Core
+src/Core/util/DisableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
+src/misc/Kernel.h
+/usr/include/eigen3/Eigen/src/misc/Kernel.h
+src/misc/Image.h
+/usr/include/eigen3/Eigen/src/misc/Image.h
+src/LU/FullPivLU.h
 /usr/include/eigen3/Eigen/src/LU/FullPivLU.h
-
-/usr/include/eigen3/Eigen/src/LU/InverseImpl.h
-
+src/LU/PartialPivLU.h
 /usr/include/eigen3/Eigen/src/LU/PartialPivLU.h
-
-/usr/include/eigen3/Eigen/src/LU/PartialPivLU_LAPACKE.h
-
+src/LU/PartialPivLU_MKL.h
+/usr/include/eigen3/Eigen/src/LU/PartialPivLU_MKL.h
+src/LU/Determinant.h
+/usr/include/eigen3/Eigen/src/LU/Determinant.h
+src/LU/InverseImpl.h
+/usr/include/eigen3/Eigen/src/LU/InverseImpl.h
+src/LU/arch/Inverse_SSE.h
 /usr/include/eigen3/Eigen/src/LU/arch/Inverse_SSE.h
+src/Core/util/ReenableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
 
-/usr/include/eigen3/Eigen/src/QR/ColPivHouseholderQR.h
-
-/usr/include/eigen3/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h
-
-/usr/include/eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h
-
-/usr/include/eigen3/Eigen/src/QR/FullPivHouseholderQR.h
-
+/usr/include/eigen3/Eigen/QR
+Core
+/usr/include/eigen3/Eigen/Core
+src/Core/util/DisableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
+Cholesky
+/usr/include/eigen3/Eigen/Cholesky
+Jacobi
+/usr/include/eigen3/Eigen/Jacobi
+Householder
+/usr/include/eigen3/Eigen/Householder
+src/QR/HouseholderQR.h
 /usr/include/eigen3/Eigen/src/QR/HouseholderQR.h
+src/QR/FullPivHouseholderQR.h
+/usr/include/eigen3/Eigen/src/QR/FullPivHouseholderQR.h
+src/QR/ColPivHouseholderQR.h
+/usr/include/eigen3/Eigen/src/QR/ColPivHouseholderQR.h
+src/QR/HouseholderQR_MKL.h
+/usr/include/eigen3/Eigen/src/QR/HouseholderQR_MKL.h
+src/QR/ColPivHouseholderQR_MKL.h
+/usr/include/eigen3/Eigen/src/QR/ColPivHouseholderQR_MKL.h
+src/Core/util/ReenableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
 
-/usr/include/eigen3/Eigen/src/QR/HouseholderQR_LAPACKE.h
-
-/usr/include/eigen3/Eigen/src/SVD/BDCSVD.h
-
-/usr/include/eigen3/Eigen/src/SVD/JacobiSVD.h
-
-/usr/include/eigen3/Eigen/src/SVD/JacobiSVD_LAPACKE.h
-
-/usr/include/eigen3/Eigen/src/SVD/SVDBase.h
-
+/usr/include/eigen3/Eigen/SVD
+QR
+/usr/include/eigen3/Eigen/QR
+Householder
+/usr/include/eigen3/Eigen/Householder
+Jacobi
+/usr/include/eigen3/Eigen/Jacobi
+src/Core/util/DisableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
+src/SVD/UpperBidiagonalization.h
 /usr/include/eigen3/Eigen/src/SVD/UpperBidiagonalization.h
+src/SVD/SVDBase.h
+/usr/include/eigen3/Eigen/src/SVD/SVDBase.h
+src/SVD/JacobiSVD.h
+/usr/include/eigen3/Eigen/src/SVD/JacobiSVD.h
+src/SVD/BDCSVD.h
+/usr/include/eigen3/Eigen/src/SVD/BDCSVD.h
+src/SVD/JacobiSVD_MKL.h
+/usr/include/eigen3/Eigen/src/SVD/JacobiSVD_MKL.h
+src/Core/util/ReenableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
 
+/usr/include/eigen3/Eigen/StdVector
+Core
+/usr/include/eigen3/Eigen/Core
+vector
+-
+src/StlSupport/StdVector.h
 /usr/include/eigen3/Eigen/src/StlSupport/StdVector.h
-details.h
-/usr/include/eigen3/Eigen/src/StlSupport/details.h
-
-/usr/include/eigen3/Eigen/src/StlSupport/details.h
 
-/usr/include/eigen3/Eigen/src/misc/Image.h
-
-/usr/include/eigen3/Eigen/src/misc/Kernel.h
-
-/usr/include/eigen3/Eigen/src/misc/RealSvd2x2.h
+/usr/include/eigen3/Eigen/src/Cholesky/LDLT.h
 
-/usr/include/eigen3/Eigen/src/misc/blas.h
+/usr/include/eigen3/Eigen/src/Cholesky/LLT.h
 
-/usr/include/eigen3/Eigen/src/misc/lapacke.h
-lapacke_config.h
-/usr/include/eigen3/Eigen/src/misc/lapacke_config.h
-stdlib.h
--
-complex.h
--
-complex.h
+/usr/include/eigen3/Eigen/src/Cholesky/LLT_MKL.h
+Eigen/src/Core/util/MKL_support.h
+/usr/include/eigen3/Eigen/src/Cholesky/Eigen/src/Core/util/MKL_support.h
+iostream
 -
-lapacke_mangling.h
-/usr/include/eigen3/Eigen/src/misc/lapacke_mangling.h
 
-/usr/include/eigen3/Eigen/src/misc/lapacke_mangling.h
-
-/usr/include/eigen3/Eigen/src/plugins/ArrayCwiseBinaryOps.h
+/usr/include/eigen3/Eigen/src/Core/Array.h
 
+/usr/include/eigen3/Eigen/src/Core/ArrayBase.h
+../plugins/CommonCwiseUnaryOps.h
+/usr/include/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h
+../plugins/MatrixCwiseUnaryOps.h
+/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h
+../plugins/ArrayCwiseUnaryOps.h
 /usr/include/eigen3/Eigen/src/plugins/ArrayCwiseUnaryOps.h
-
-/usr/include/eigen3/Eigen/src/plugins/BlockMethods.h
-
+../plugins/CommonCwiseBinaryOps.h
 /usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h
-
-/usr/include/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h
-
+../plugins/MatrixCwiseBinaryOps.h
 /usr/include/eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h
+../plugins/ArrayCwiseBinaryOps.h
+/usr/include/eigen3/Eigen/src/plugins/ArrayCwiseBinaryOps.h
 
-/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h
-
-/usr/local/include/ceres/autodiff_cost_function.h
-ceres/internal/autodiff.h
-/usr/local/include/ceres/ceres/internal/autodiff.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/sized_cost_function.h
-/usr/local/include/ceres/ceres/sized_cost_function.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
-
-/usr/local/include/ceres/autodiff_local_parameterization.h
-ceres/local_parameterization.h
-/usr/local/include/ceres/ceres/local_parameterization.h
-ceres/internal/autodiff.h
-/usr/local/include/ceres/ceres/internal/autodiff.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-
-/usr/local/include/ceres/ceres.h
-ceres/autodiff_cost_function.h
-/usr/local/include/ceres/ceres/autodiff_cost_function.h
-ceres/autodiff_local_parameterization.h
-/usr/local/include/ceres/ceres/autodiff_local_parameterization.h
-ceres/cost_function.h
-/usr/local/include/ceres/ceres/cost_function.h
-ceres/cost_function_to_functor.h
-/usr/local/include/ceres/ceres/cost_function_to_functor.h
-ceres/covariance.h
-/usr/local/include/ceres/ceres/covariance.h
-ceres/crs_matrix.h
-/usr/local/include/ceres/ceres/crs_matrix.h
-ceres/dynamic_autodiff_cost_function.h
-/usr/local/include/ceres/ceres/dynamic_autodiff_cost_function.h
-ceres/dynamic_numeric_diff_cost_function.h
-/usr/local/include/ceres/ceres/dynamic_numeric_diff_cost_function.h
-ceres/gradient_problem.h
-/usr/local/include/ceres/ceres/gradient_problem.h
-ceres/gradient_problem_solver.h
-/usr/local/include/ceres/ceres/gradient_problem_solver.h
-ceres/iteration_callback.h
-/usr/local/include/ceres/ceres/iteration_callback.h
-ceres/jet.h
-/usr/local/include/ceres/ceres/jet.h
-ceres/local_parameterization.h
-/usr/local/include/ceres/ceres/local_parameterization.h
-ceres/loss_function.h
-/usr/local/include/ceres/ceres/loss_function.h
-ceres/numeric_diff_cost_function.h
-/usr/local/include/ceres/ceres/numeric_diff_cost_function.h
-ceres/ordered_groups.h
-/usr/local/include/ceres/ceres/ordered_groups.h
-ceres/problem.h
-/usr/local/include/ceres/ceres/problem.h
-ceres/sized_cost_function.h
-/usr/local/include/ceres/ceres/sized_cost_function.h
-ceres/solver.h
-/usr/local/include/ceres/ceres/solver.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/version.h
-/usr/local/include/ceres/ceres/version.h
-
-/usr/local/include/ceres/cost_function.h
-vector
--
-ceres/internal/macros.h
-/usr/local/include/ceres/ceres/internal/macros.h
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
-
-/usr/local/include/ceres/cost_function_to_functor.h
-numeric
--
-vector
--
-ceres/cost_function.h
-/usr/local/include/ceres/ceres/cost_function.h
-ceres/dynamic_cost_function_to_functor.h
-/usr/local/include/ceres/ceres/dynamic_cost_function_to_functor.h
-ceres/internal/fixed_array.h
-/usr/local/include/ceres/ceres/internal/fixed_array.h
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-
-/usr/local/include/ceres/covariance.h
-utility
--
-vector
--
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
-
-/usr/local/include/ceres/crs_matrix.h
-vector
--
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
-
-/usr/local/include/ceres/dynamic_autodiff_cost_function.h
-cmath
--
-numeric
--
-vector
--
-ceres/dynamic_cost_function.h
-/usr/local/include/ceres/ceres/dynamic_cost_function.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/jet.h
-/usr/local/include/ceres/ceres/jet.h
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
-
-/usr/local/include/ceres/dynamic_cost_function.h
-ceres/cost_function.h
-/usr/local/include/ceres/ceres/cost_function.h
-
-/usr/local/include/ceres/dynamic_cost_function_to_functor.h
-numeric
--
-vector
--
-ceres/dynamic_cost_function.h
-/usr/local/include/ceres/ceres/dynamic_cost_function.h
-ceres/internal/fixed_array.h
-/usr/local/include/ceres/ceres/internal/fixed_array.h
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
+/usr/include/eigen3/Eigen/src/Core/ArrayWrapper.h
 
-/usr/local/include/ceres/dynamic_numeric_diff_cost_function.h
-cmath
--
-numeric
--
-vector
--
-ceres/dynamic_cost_function.h
-/usr/local/include/ceres/ceres/dynamic_cost_function.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/internal/eigen.h
-/usr/local/include/ceres/ceres/internal/eigen.h
-ceres/internal/numeric_diff.h
-/usr/local/include/ceres/ceres/internal/numeric_diff.h
-ceres/numeric_diff_options.h
-/usr/local/include/ceres/ceres/numeric_diff_options.h
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
+/usr/include/eigen3/Eigen/src/Core/Assign.h
 
-/usr/local/include/ceres/fpclassify.h
-float.h
--
-limits
--
+/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h
 
-/usr/local/include/ceres/gradient_problem.h
-ceres/internal/macros.h
-/usr/local/include/ceres/ceres/internal/macros.h
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/local_parameterization.h
-/usr/local/include/ceres/ceres/local_parameterization.h
+/usr/include/eigen3/Eigen/src/Core/Assign_MKL.h
 
-/usr/local/include/ceres/gradient_problem_solver.h
-cmath
--
-string
--
-vector
--
-ceres/internal/macros.h
-/usr/local/include/ceres/ceres/internal/macros.h
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/iteration_callback.h
-/usr/local/include/ceres/ceres/iteration_callback.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
-
-/usr/local/include/ceres/internal/autodiff.h
-stddef.h
--
-ceres/jet.h
-/usr/local/include/ceres/internal/ceres/jet.h
-ceres/internal/eigen.h
-/usr/local/include/ceres/internal/ceres/internal/eigen.h
-ceres/internal/fixed_array.h
-/usr/local/include/ceres/internal/ceres/internal/fixed_array.h
-ceres/internal/variadic_evaluate.h
-/usr/local/include/ceres/internal/ceres/internal/variadic_evaluate.h
-glog/logging.h
-/usr/local/include/ceres/internal/glog/logging.h
+/usr/include/eigen3/Eigen/src/Core/BandMatrix.h
 
-/usr/local/include/ceres/internal/config.h
+/usr/include/eigen3/Eigen/src/Core/Block.h
 
-/usr/local/include/ceres/internal/disable_warnings.h
+/usr/include/eigen3/Eigen/src/Core/BooleanRedux.h
 
-/usr/local/include/ceres/internal/eigen.h
-Eigen/Core
-/usr/local/include/ceres/internal/Eigen/Core
+/usr/include/eigen3/Eigen/src/Core/CommaInitializer.h
 
-/usr/local/include/ceres/internal/fixed_array.h
-cstddef
--
-Eigen/Core
-/usr/local/include/ceres/internal/Eigen/Core
-ceres/internal/macros.h
-/usr/local/include/ceres/internal/ceres/internal/macros.h
-ceres/internal/manual_constructor.h
-/usr/local/include/ceres/internal/ceres/internal/manual_constructor.h
-glog/logging.h
-/usr/local/include/ceres/internal/glog/logging.h
+/usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h
 
-/usr/local/include/ceres/internal/macros.h
-cstddef
--
+/usr/include/eigen3/Eigen/src/Core/CoreIterators.h
 
-/usr/local/include/ceres/internal/manual_constructor.h
-new
--
+/usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h
 
-/usr/local/include/ceres/internal/numeric_diff.h
-cstring
--
-Eigen/Dense
-/usr/local/include/ceres/internal/Eigen/Dense
-Eigen/StdVector
-/usr/local/include/ceres/internal/Eigen/StdVector
-ceres/cost_function.h
-/usr/local/include/ceres/internal/ceres/cost_function.h
-ceres/internal/fixed_array.h
-/usr/local/include/ceres/internal/ceres/internal/fixed_array.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/internal/ceres/internal/scoped_ptr.h
-ceres/internal/variadic_evaluate.h
-/usr/local/include/ceres/internal/ceres/internal/variadic_evaluate.h
-ceres/numeric_diff_options.h
-/usr/local/include/ceres/internal/ceres/numeric_diff_options.h
-ceres/types.h
-/usr/local/include/ceres/internal/ceres/types.h
-glog/logging.h
-/usr/local/include/ceres/internal/glog/logging.h
+/usr/include/eigen3/Eigen/src/Core/CwiseNullaryOp.h
 
-/usr/local/include/ceres/internal/port.h
-cstddef
--
-ceres/internal/config.h
-/usr/local/include/ceres/internal/ceres/internal/config.h
-tr1/memory
--
-memory
--
+/usr/include/eigen3/Eigen/src/Core/CwiseUnaryOp.h
 
-/usr/local/include/ceres/internal/reenable_warnings.h
+/usr/include/eigen3/Eigen/src/Core/CwiseUnaryView.h
 
-/usr/local/include/ceres/internal/scoped_ptr.h
-assert.h
--
-stdlib.h
--
-cstddef
--
-algorithm
--
+/usr/include/eigen3/Eigen/src/Core/DenseBase.h
+../plugins/BlockMethods.h
+/usr/include/eigen3/Eigen/src/plugins/BlockMethods.h
 
-/usr/local/include/ceres/internal/variadic_evaluate.h
-stddef.h
--
-ceres/jet.h
-/usr/local/include/ceres/internal/ceres/jet.h
-ceres/types.h
-/usr/local/include/ceres/internal/ceres/types.h
-ceres/internal/eigen.h
-/usr/local/include/ceres/internal/ceres/internal/eigen.h
-ceres/internal/fixed_array.h
-/usr/local/include/ceres/internal/ceres/internal/fixed_array.h
-glog/logging.h
-/usr/local/include/ceres/internal/glog/logging.h
+/usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h
 
-/usr/local/include/ceres/iteration_callback.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
+/usr/include/eigen3/Eigen/src/Core/DenseStorage.h
 
-/usr/local/include/ceres/jet.h
-cmath
--
-iosfwd
--
-iostream
--
-limits
--
-string
--
-Eigen/Core
-/usr/local/include/ceres/Eigen/Core
-ceres/fpclassify.h
-/usr/local/include/ceres/ceres/fpclassify.h
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
+/usr/include/eigen3/Eigen/src/Core/Diagonal.h
 
-/usr/local/include/ceres/local_parameterization.h
-vector
--
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
+/usr/include/eigen3/Eigen/src/Core/DiagonalMatrix.h
 
-/usr/local/include/ceres/loss_function.h
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
-ceres/internal/macros.h
-/usr/local/include/ceres/ceres/internal/macros.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
-
-/usr/local/include/ceres/numeric_diff_cost_function.h
-Eigen/Dense
-/usr/local/include/ceres/Eigen/Dense
-ceres/cost_function.h
-/usr/local/include/ceres/ceres/cost_function.h
-ceres/internal/numeric_diff.h
-/usr/local/include/ceres/ceres/internal/numeric_diff.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/numeric_diff_options.h
-/usr/local/include/ceres/ceres/numeric_diff_options.h
-ceres/sized_cost_function.h
-/usr/local/include/ceres/ceres/sized_cost_function.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
+/usr/include/eigen3/Eigen/src/Core/DiagonalProduct.h
 
-/usr/local/include/ceres/numeric_diff_options.h
+/usr/include/eigen3/Eigen/src/Core/Dot.h
 
-/usr/local/include/ceres/ordered_groups.h
-map
--
-set
--
-vector
--
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
+/usr/include/eigen3/Eigen/src/Core/EigenBase.h
 
-/usr/local/include/ceres/problem.h
-cstddef
--
-map
--
-set
--
-vector
--
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
-ceres/internal/macros.h
-/usr/local/include/ceres/ceres/internal/macros.h
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
-
-/usr/local/include/ceres/sized_cost_function.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/cost_function.h
-/usr/local/include/ceres/ceres/cost_function.h
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
+/usr/include/eigen3/Eigen/src/Core/Fuzzy.h
 
-/usr/local/include/ceres/solver.h
-cmath
--
-string
--
-vector
--
-ceres/crs_matrix.h
-/usr/local/include/ceres/ceres/crs_matrix.h
-ceres/internal/macros.h
-/usr/local/include/ceres/ceres/internal/macros.h
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/iteration_callback.h
-/usr/local/include/ceres/ceres/iteration_callback.h
-ceres/ordered_groups.h
-/usr/local/include/ceres/ceres/ordered_groups.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
-
-/usr/local/include/ceres/types.h
-string
--
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
+/usr/include/eigen3/Eigen/src/Core/GeneralProduct.h
 
-/usr/local/include/ceres/version.h
+/usr/include/eigen3/Eigen/src/Core/GenericPacketMath.h
 
-/usr/local/include/opencv/cxcore.h
-opencv2/core/core_c.h
-/usr/local/include/opencv/opencv2/core/core_c.h
+/usr/include/eigen3/Eigen/src/Core/GlobalFunctions.h
 
-/usr/local/include/opencv2/aruco.hpp
-opencv2/core.hpp
--
-vector
--
-opencv2/aruco/dictionary.hpp
-/usr/local/include/opencv2/opencv2/aruco/dictionary.hpp
+/usr/include/eigen3/Eigen/src/Core/IO.h
 
-/usr/local/include/opencv2/aruco/charuco.hpp
-opencv2/core.hpp
--
-vector
--
-opencv2/aruco.hpp
--
+/usr/include/eigen3/Eigen/src/Core/Inverse.h
 
-/usr/local/include/opencv2/aruco/dictionary.hpp
-opencv2/core.hpp
--
+/usr/include/eigen3/Eigen/src/Core/Map.h
 
-/usr/local/include/opencv2/calib3d.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/opencv2/core.hpp
-opencv2/features2d.hpp
-/usr/local/include/opencv2/opencv2/features2d.hpp
-opencv2/core/affine.hpp
-/usr/local/include/opencv2/opencv2/core/affine.hpp
-opencv2/calib3d/calib3d_c.h
-/usr/local/include/opencv2/opencv2/calib3d/calib3d_c.h
+/usr/include/eigen3/Eigen/src/Core/MapBase.h
 
-/usr/local/include/opencv2/calib3d/calib3d_c.h
-opencv2/core/core_c.h
-/usr/local/include/opencv2/calib3d/opencv2/core/core_c.h
+/usr/include/eigen3/Eigen/src/Core/MathFunctions.h
 
-/usr/local/include/opencv2/core.hpp
-opencv2/core/cvdef.h
-/usr/local/include/opencv2/opencv2/core/cvdef.h
-opencv2/core/version.hpp
-/usr/local/include/opencv2/opencv2/core/version.hpp
-opencv2/core/base.hpp
-/usr/local/include/opencv2/opencv2/core/base.hpp
-opencv2/core/cvstd.hpp
-/usr/local/include/opencv2/opencv2/core/cvstd.hpp
-opencv2/core/traits.hpp
-/usr/local/include/opencv2/opencv2/core/traits.hpp
-opencv2/core/matx.hpp
-/usr/local/include/opencv2/opencv2/core/matx.hpp
-opencv2/core/types.hpp
-/usr/local/include/opencv2/opencv2/core/types.hpp
-opencv2/core/mat.hpp
-/usr/local/include/opencv2/opencv2/core/mat.hpp
-opencv2/core/persistence.hpp
-/usr/local/include/opencv2/opencv2/core/persistence.hpp
-opencv2/opencv.hpp
-/usr/local/include/opencv2/opencv2/opencv.hpp
-opencv2/xfeatures2d.hpp
-/usr/local/include/opencv2/opencv2/xfeatures2d.hpp
-opencv2/core/operations.hpp
-/usr/local/include/opencv2/opencv2/core/operations.hpp
-opencv2/core/cvstd.inl.hpp
-/usr/local/include/opencv2/opencv2/core/cvstd.inl.hpp
-opencv2/core/utility.hpp
-/usr/local/include/opencv2/opencv2/core/utility.hpp
-opencv2/core/optim.hpp
-/usr/local/include/opencv2/opencv2/core/optim.hpp
-opencv2/core/ovx.hpp
-/usr/local/include/opencv2/opencv2/core/ovx.hpp
+/usr/include/eigen3/Eigen/src/Core/Matrix.h
 
-/usr/local/include/opencv2/core/affine.hpp
-opencv2/core.hpp
--
+/usr/include/eigen3/Eigen/src/Core/MatrixBase.h
+../plugins/CommonCwiseUnaryOps.h
+/usr/include/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h
+../plugins/CommonCwiseBinaryOps.h
+/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h
+../plugins/MatrixCwiseUnaryOps.h
+/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h
+../plugins/MatrixCwiseBinaryOps.h
+/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h
 
-/usr/local/include/opencv2/core/base.hpp
-opencv2/opencv_modules.hpp
-/usr/local/include/opencv2/core/opencv2/opencv_modules.hpp
-climits
--
-algorithm
--
-opencv2/core/cvdef.h
-/usr/local/include/opencv2/core/opencv2/core/cvdef.h
-opencv2/core/cvstd.hpp
-/usr/local/include/opencv2/core/opencv2/core/cvstd.hpp
-opencv2/core/neon_utils.hpp
-/usr/local/include/opencv2/core/opencv2/core/neon_utils.hpp
-opencv2/core/vsx_utils.hpp
-/usr/local/include/opencv2/core/opencv2/core/vsx_utils.hpp
+/usr/include/eigen3/Eigen/src/Core/NestByValue.h
 
-/usr/local/include/opencv2/core/bufferpool.hpp
+/usr/include/eigen3/Eigen/src/Core/NoAlias.h
 
-/usr/local/include/opencv2/core/core_c.h
-opencv2/core/types_c.h
-/usr/local/include/opencv2/core/opencv2/core/types_c.h
-cxcore.h
-/usr/local/include/opencv2/core/cxcore.h
-cxcore.h
-/usr/local/include/opencv2/core/cxcore.h
-opencv2/core/utility.hpp
-/usr/local/include/opencv2/core/opencv2/core/utility.hpp
+/usr/include/eigen3/Eigen/src/Core/NumTraits.h
 
-/usr/local/include/opencv2/core/cuda.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/core/opencv2/core.hpp
-opencv2/core/cuda_types.hpp
-/usr/local/include/opencv2/core/opencv2/core/cuda_types.hpp
-opencv2/core/cuda.inl.hpp
-/usr/local/include/opencv2/core/opencv2/core/cuda.inl.hpp
+/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h
 
-/usr/local/include/opencv2/core/cuda.inl.hpp
-opencv2/core/cuda.hpp
-/usr/local/include/opencv2/core/opencv2/core/cuda.hpp
+/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h
 
-/usr/local/include/opencv2/core/cuda_types.hpp
+/usr/include/eigen3/Eigen/src/Core/Product.h
 
-/usr/local/include/opencv2/core/cv_cpu_dispatch.h
-cv_cpu_config.h
-/usr/local/include/opencv2/core/cv_cpu_config.h
-cv_cpu_helper.h
-/usr/local/include/opencv2/core/cv_cpu_helper.h
-emmintrin.h
--
-pmmintrin.h
--
-tmmintrin.h
--
-smmintrin.h
--
-nmmintrin.h
--
-nmmintrin.h
--
-popcntintrin.h
--
-immintrin.h
--
-arm_neon.h
--
-immintrin.h
--
-immintrin.h
--
-Intrin.h
--
-arm_neon.h
--
-arm_neon.h
--
-arm_neon.h
--
-altivec.h
--
-emmintrin.h
--
-Intrin.h
--
-arm_neon.h
--
-arm_neon.h
--
-altivec.h
--
+/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h
+
+/usr/include/eigen3/Eigen/src/Core/Random.h
 
-/usr/local/include/opencv2/core/cv_cpu_helper.h
+/usr/include/eigen3/Eigen/src/Core/Redux.h
 
-/usr/local/include/opencv2/core/cvdef.h
-cvconfig.h
-/usr/local/include/opencv2/core/cvconfig.h
-limits.h
--
-opencv2/core/hal/interface.h
-/usr/local/include/opencv2/core/opencv2/core/hal/interface.h
-cv_cpu_dispatch.h
-/usr/local/include/opencv2/core/cv_cpu_dispatch.h
-intrin.h
--
-array
--
+/usr/include/eigen3/Eigen/src/Core/Ref.h
 
-/usr/local/include/opencv2/core/cvstd.hpp
-opencv2/core/cvdef.h
-/usr/local/include/opencv2/core/opencv2/core/cvdef.h
-cstddef
--
-cstring
--
-cctype
--
-string
--
-algorithm
--
-utility
--
-cstdlib
--
-cmath
--
-opencv2/core/ptr.inl.hpp
-/usr/local/include/opencv2/core/opencv2/core/ptr.inl.hpp
+/usr/include/eigen3/Eigen/src/Core/Replicate.h
+
+/usr/include/eigen3/Eigen/src/Core/ReturnByValue.h
 
-/usr/local/include/opencv2/core/cvstd.inl.hpp
-complex
--
-ostream
--
+/usr/include/eigen3/Eigen/src/Core/Reverse.h
 
-/usr/local/include/opencv2/core/fast_math.hpp
-opencv2/core/cvdef.h
-/usr/local/include/opencv2/core/opencv2/core/cvdef.h
-emmintrin.h
--
-cmath
--
-fastmath.h
--
-math.h
--
-tegra_round.hpp
-/usr/local/include/opencv2/core/tegra_round.hpp
+/usr/include/eigen3/Eigen/src/Core/Select.h
 
-/usr/local/include/opencv2/core/hal/interface.h
-cstddef
--
-stddef.h
--
-stdbool.h
--
-cstdint
--
-stdint.h
--
+/usr/include/eigen3/Eigen/src/Core/SelfAdjointView.h
 
-/usr/local/include/opencv2/core/mat.hpp
-opencv2/core/matx.hpp
-/usr/local/include/opencv2/core/opencv2/core/matx.hpp
-opencv2/core/types.hpp
-/usr/local/include/opencv2/core/opencv2/core/types.hpp
-opencv2/core/bufferpool.hpp
-/usr/local/include/opencv2/core/opencv2/core/bufferpool.hpp
-type_traits
--
-opencv2/core/mat.inl.hpp
-/usr/local/include/opencv2/core/opencv2/core/mat.inl.hpp
+/usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h
 
-/usr/local/include/opencv2/core/mat.inl.hpp
+/usr/include/eigen3/Eigen/src/Core/Solve.h
 
-/usr/local/include/opencv2/core/matx.hpp
-opencv2/core/cvdef.h
-/usr/local/include/opencv2/core/opencv2/core/cvdef.h
-opencv2/core/base.hpp
-/usr/local/include/opencv2/core/opencv2/core/base.hpp
-opencv2/core/traits.hpp
-/usr/local/include/opencv2/core/opencv2/core/traits.hpp
-opencv2/core/saturate.hpp
-/usr/local/include/opencv2/core/opencv2/core/saturate.hpp
-initializer_list
--
+/usr/include/eigen3/Eigen/src/Core/SolveTriangular.h
 
-/usr/local/include/opencv2/core/neon_utils.hpp
-opencv2/core/cvdef.h
-/usr/local/include/opencv2/core/opencv2/core/cvdef.h
+/usr/include/eigen3/Eigen/src/Core/SolverBase.h
 
-/usr/local/include/opencv2/core/operations.hpp
-cstdio
--
+/usr/include/eigen3/Eigen/src/Core/SpecialFunctions.h
 
-/usr/local/include/opencv2/core/optim.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/core/opencv2/core.hpp
+/usr/include/eigen3/Eigen/src/Core/StableNorm.h
 
-/usr/local/include/opencv2/core/ovx.hpp
-cvdef.h
-/usr/local/include/opencv2/core/cvdef.h
+/usr/include/eigen3/Eigen/src/Core/Stride.h
 
-/usr/local/include/opencv2/core/persistence.hpp
-opencv2/core/types.hpp
-/usr/local/include/opencv2/core/opencv2/core/types.hpp
-opencv2/core/mat.hpp
-/usr/local/include/opencv2/core/opencv2/core/mat.hpp
-opencv2/opencv.hpp
-/usr/local/include/opencv2/core/opencv2/opencv.hpp
-time.h
--
+/usr/include/eigen3/Eigen/src/Core/Swap.h
 
-/usr/local/include/opencv2/core/ptr.inl.hpp
-algorithm
--
+/usr/include/eigen3/Eigen/src/Core/Transpose.h
 
-/usr/local/include/opencv2/core/saturate.hpp
-opencv2/core/cvdef.h
-/usr/local/include/opencv2/core/opencv2/core/cvdef.h
-opencv2/core/fast_math.hpp
-/usr/local/include/opencv2/core/opencv2/core/fast_math.hpp
+/usr/include/eigen3/Eigen/src/Core/Transpositions.h
 
-/usr/local/include/opencv2/core/traits.hpp
-opencv2/core/cvdef.h
-/usr/local/include/opencv2/core/opencv2/core/cvdef.h
+/usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h
 
-/usr/local/include/opencv2/core/types.hpp
-climits
--
-cfloat
--
-vector
--
-limits
--
-opencv2/core/cvdef.h
-/usr/local/include/opencv2/core/opencv2/core/cvdef.h
-opencv2/core/cvstd.hpp
-/usr/local/include/opencv2/core/opencv2/core/cvstd.hpp
-opencv2/core/matx.hpp
-/usr/local/include/opencv2/core/opencv2/core/matx.hpp
+/usr/include/eigen3/Eigen/src/Core/VectorBlock.h
 
-/usr/local/include/opencv2/core/types_c.h
-ipl.h
--
-ipl/ipl.h
--
-opencv2/core/cvdef.h
-/usr/local/include/opencv2/core/opencv2/core/cvdef.h
-assert.h
--
-stdlib.h
--
-string.h
--
-float.h
--
-opencv2/core.hpp
-/usr/local/include/opencv2/core/opencv2/core.hpp
+/usr/include/eigen3/Eigen/src/Core/VectorwiseOp.h
 
-/usr/local/include/opencv2/core/utility.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/core/opencv2/core.hpp
-ostream
--
-functional
--
-opencv2/core/core_c.h
-/usr/local/include/opencv2/core/opencv2/core/core_c.h
+/usr/include/eigen3/Eigen/src/Core/Visitor.h
 
-/usr/local/include/opencv2/core/version.hpp
+/usr/include/eigen3/Eigen/src/Core/arch/AVX/Complex.h
 
-/usr/local/include/opencv2/core/vsx_utils.hpp
-opencv2/core/cvdef.h
-/usr/local/include/opencv2/core/opencv2/core/cvdef.h
+/usr/include/eigen3/Eigen/src/Core/arch/AVX/MathFunctions.h
 
-/usr/local/include/opencv2/features2d.hpp
-opencv2/opencv_modules.hpp
-/usr/local/include/opencv2/opencv2/opencv_modules.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/opencv2/core.hpp
-opencv2/flann/miniflann.hpp
-/usr/local/include/opencv2/opencv2/flann/miniflann.hpp
+/usr/include/eigen3/Eigen/src/Core/arch/AVX/PacketMath.h
 
-/usr/local/include/opencv2/flann.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/opencv2/core.hpp
-opencv2/flann/miniflann.hpp
-/usr/local/include/opencv2/opencv2/flann/miniflann.hpp
-opencv2/flann/flann_base.hpp
-/usr/local/include/opencv2/opencv2/flann/flann_base.hpp
+/usr/include/eigen3/Eigen/src/Core/arch/AVX/TypeCasting.h
 
-/usr/local/include/opencv2/flann/all_indices.h
-general.h
-/usr/local/include/opencv2/flann/general.h
-nn_index.h
-/usr/local/include/opencv2/flann/nn_index.h
-kdtree_index.h
-/usr/local/include/opencv2/flann/kdtree_index.h
-kdtree_single_index.h
-/usr/local/include/opencv2/flann/kdtree_single_index.h
-kmeans_index.h
-/usr/local/include/opencv2/flann/kmeans_index.h
-composite_index.h
-/usr/local/include/opencv2/flann/composite_index.h
-linear_index.h
-/usr/local/include/opencv2/flann/linear_index.h
-hierarchical_clustering_index.h
-/usr/local/include/opencv2/flann/hierarchical_clustering_index.h
-lsh_index.h
-/usr/local/include/opencv2/flann/lsh_index.h
-autotuned_index.h
-/usr/local/include/opencv2/flann/autotuned_index.h
+/usr/include/eigen3/Eigen/src/Core/arch/AltiVec/Complex.h
 
-/usr/local/include/opencv2/flann/allocator.h
-stdlib.h
--
-stdio.h
--
+/usr/include/eigen3/Eigen/src/Core/arch/AltiVec/MathFunctions.h
 
-/usr/local/include/opencv2/flann/any.h
-defines.h
-/usr/local/include/opencv2/flann/defines.h
-stdexcept
--
-ostream
--
-typeinfo
--
+/usr/include/eigen3/Eigen/src/Core/arch/AltiVec/PacketMath.h
 
-/usr/local/include/opencv2/flann/autotuned_index.h
-sstream
--
-general.h
-/usr/local/include/opencv2/flann/general.h
-nn_index.h
-/usr/local/include/opencv2/flann/nn_index.h
-ground_truth.h
-/usr/local/include/opencv2/flann/ground_truth.h
-index_testing.h
-/usr/local/include/opencv2/flann/index_testing.h
-sampling.h
-/usr/local/include/opencv2/flann/sampling.h
-kdtree_index.h
-/usr/local/include/opencv2/flann/kdtree_index.h
-kdtree_single_index.h
-/usr/local/include/opencv2/flann/kdtree_single_index.h
-kmeans_index.h
-/usr/local/include/opencv2/flann/kmeans_index.h
-composite_index.h
-/usr/local/include/opencv2/flann/composite_index.h
-linear_index.h
-/usr/local/include/opencv2/flann/linear_index.h
-logger.h
-/usr/local/include/opencv2/flann/logger.h
+/usr/include/eigen3/Eigen/src/Core/arch/CUDA/MathFunctions.h
 
-/usr/local/include/opencv2/flann/composite_index.h
-general.h
-/usr/local/include/opencv2/flann/general.h
-nn_index.h
-/usr/local/include/opencv2/flann/nn_index.h
-kdtree_index.h
-/usr/local/include/opencv2/flann/kdtree_index.h
-kmeans_index.h
-/usr/local/include/opencv2/flann/kmeans_index.h
+/usr/include/eigen3/Eigen/src/Core/arch/CUDA/PacketMath.h
 
-/usr/local/include/opencv2/flann/config.h
+/usr/include/eigen3/Eigen/src/Core/arch/Default/Settings.h
 
-/usr/local/include/opencv2/flann/defines.h
-config.h
-/usr/local/include/opencv2/flann/config.h
+/usr/include/eigen3/Eigen/src/Core/arch/NEON/Complex.h
 
-/usr/local/include/opencv2/flann/dist.h
-cmath
--
-cstdlib
--
-string.h
--
-stdint.h
--
-defines.h
-/usr/local/include/opencv2/flann/defines.h
-Intrin.h
--
-arm_neon.h
-/usr/local/include/opencv2/flann/arm_neon.h
+/usr/include/eigen3/Eigen/src/Core/arch/NEON/MathFunctions.h
 
-/usr/local/include/opencv2/flann/dynamic_bitset.h
-boost/dynamic_bitset.hpp
--
-limits.h
--
-dist.h
-/usr/local/include/opencv2/flann/dist.h
+/usr/include/eigen3/Eigen/src/Core/arch/NEON/PacketMath.h
 
-/usr/local/include/opencv2/flann/flann_base.hpp
-vector
--
-cassert
--
-cstdio
--
-general.h
-/usr/local/include/opencv2/flann/general.h
-matrix.h
-/usr/local/include/opencv2/flann/matrix.h
-params.h
-/usr/local/include/opencv2/flann/params.h
-saving.h
-/usr/local/include/opencv2/flann/saving.h
-all_indices.h
-/usr/local/include/opencv2/flann/all_indices.h
+/usr/include/eigen3/Eigen/src/Core/arch/SSE/Complex.h
 
-/usr/local/include/opencv2/flann/general.h
-opencv2/core.hpp
-/usr/local/include/opencv2/flann/opencv2/core.hpp
+/usr/include/eigen3/Eigen/src/Core/arch/SSE/MathFunctions.h
 
-/usr/local/include/opencv2/flann/ground_truth.h
-dist.h
-/usr/local/include/opencv2/flann/dist.h
-matrix.h
-/usr/local/include/opencv2/flann/matrix.h
+/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h
 
-/usr/local/include/opencv2/flann/heap.h
-algorithm
--
-vector
--
+/usr/include/eigen3/Eigen/src/Core/arch/SSE/TypeCasting.h
 
-/usr/local/include/opencv2/flann/hierarchical_clustering_index.h
-algorithm
--
-map
--
-cassert
--
-limits
--
-cmath
--
-general.h
-/usr/local/include/opencv2/flann/general.h
-nn_index.h
-/usr/local/include/opencv2/flann/nn_index.h
-dist.h
-/usr/local/include/opencv2/flann/dist.h
-matrix.h
-/usr/local/include/opencv2/flann/matrix.h
-result_set.h
-/usr/local/include/opencv2/flann/result_set.h
-heap.h
-/usr/local/include/opencv2/flann/heap.h
-allocator.h
-/usr/local/include/opencv2/flann/allocator.h
-random.h
-/usr/local/include/opencv2/flann/random.h
-saving.h
-/usr/local/include/opencv2/flann/saving.h
+/usr/include/eigen3/Eigen/src/Core/functors/AssignmentFunctors.h
 
-/usr/local/include/opencv2/flann/index_testing.h
-cstring
--
-cassert
--
-cmath
--
-matrix.h
-/usr/local/include/opencv2/flann/matrix.h
-nn_index.h
-/usr/local/include/opencv2/flann/nn_index.h
-result_set.h
-/usr/local/include/opencv2/flann/result_set.h
-logger.h
-/usr/local/include/opencv2/flann/logger.h
-timer.h
-/usr/local/include/opencv2/flann/timer.h
+/usr/include/eigen3/Eigen/src/Core/functors/BinaryFunctors.h
 
-/usr/local/include/opencv2/flann/kdtree_index.h
-algorithm
--
-map
--
-cassert
--
-cstring
--
-general.h
-/usr/local/include/opencv2/flann/general.h
-nn_index.h
-/usr/local/include/opencv2/flann/nn_index.h
-dynamic_bitset.h
-/usr/local/include/opencv2/flann/dynamic_bitset.h
-matrix.h
-/usr/local/include/opencv2/flann/matrix.h
-result_set.h
-/usr/local/include/opencv2/flann/result_set.h
-heap.h
-/usr/local/include/opencv2/flann/heap.h
-allocator.h
-/usr/local/include/opencv2/flann/allocator.h
-random.h
-/usr/local/include/opencv2/flann/random.h
-saving.h
-/usr/local/include/opencv2/flann/saving.h
+/usr/include/eigen3/Eigen/src/Core/functors/NullaryFunctors.h
+
+/usr/include/eigen3/Eigen/src/Core/functors/StlFunctors.h
+
+/usr/include/eigen3/Eigen/src/Core/functors/UnaryFunctors.h
+
+/usr/include/eigen3/Eigen/src/Core/products/GeneralBlockPanelKernel.h
+
+/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixMatrix.h
+
+/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
 
-/usr/local/include/opencv2/flann/kdtree_single_index.h
-algorithm
--
-map
--
-cassert
--
-cstring
--
-general.h
-/usr/local/include/opencv2/flann/general.h
-nn_index.h
-/usr/local/include/opencv2/flann/nn_index.h
-matrix.h
-/usr/local/include/opencv2/flann/matrix.h
-result_set.h
-/usr/local/include/opencv2/flann/result_set.h
-heap.h
-/usr/local/include/opencv2/flann/heap.h
-allocator.h
-/usr/local/include/opencv2/flann/allocator.h
-random.h
-/usr/local/include/opencv2/flann/random.h
-saving.h
-/usr/local/include/opencv2/flann/saving.h
+/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_MKL.h
 
-/usr/local/include/opencv2/flann/kmeans_index.h
-algorithm
--
-map
--
-cassert
--
-limits
--
-cmath
--
-general.h
-/usr/local/include/opencv2/flann/general.h
-nn_index.h
-/usr/local/include/opencv2/flann/nn_index.h
-dist.h
-/usr/local/include/opencv2/flann/dist.h
-matrix.h
-/usr/local/include/opencv2/flann/matrix.h
-result_set.h
-/usr/local/include/opencv2/flann/result_set.h
-heap.h
-/usr/local/include/opencv2/flann/heap.h
-allocator.h
-/usr/local/include/opencv2/flann/allocator.h
-random.h
-/usr/local/include/opencv2/flann/random.h
-saving.h
-/usr/local/include/opencv2/flann/saving.h
-logger.h
-/usr/local/include/opencv2/flann/logger.h
+/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixMatrix_MKL.h
 
-/usr/local/include/opencv2/flann/linear_index.h
-general.h
-/usr/local/include/opencv2/flann/general.h
-nn_index.h
-/usr/local/include/opencv2/flann/nn_index.h
+/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixVector.h
 
-/usr/local/include/opencv2/flann/logger.h
-stdio.h
--
-stdarg.h
--
-defines.h
-/usr/local/include/opencv2/flann/defines.h
+/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixVector_MKL.h
 
-/usr/local/include/opencv2/flann/lsh_index.h
-algorithm
--
-cassert
--
-cstring
--
-map
--
-vector
--
-general.h
-/usr/local/include/opencv2/flann/general.h
-nn_index.h
-/usr/local/include/opencv2/flann/nn_index.h
-matrix.h
-/usr/local/include/opencv2/flann/matrix.h
-result_set.h
-/usr/local/include/opencv2/flann/result_set.h
-heap.h
-/usr/local/include/opencv2/flann/heap.h
-lsh_table.h
-/usr/local/include/opencv2/flann/lsh_table.h
-allocator.h
-/usr/local/include/opencv2/flann/allocator.h
-random.h
-/usr/local/include/opencv2/flann/random.h
-saving.h
-/usr/local/include/opencv2/flann/saving.h
+/usr/include/eigen3/Eigen/src/Core/products/Parallelizer.h
 
-/usr/local/include/opencv2/flann/lsh_table.h
-algorithm
--
-iostream
--
-iomanip
--
-limits.h
--
-unordered_map
--
-map
--
-math.h
--
-stddef.h
--
-dynamic_bitset.h
-/usr/local/include/opencv2/flann/dynamic_bitset.h
-matrix.h
-/usr/local/include/opencv2/flann/matrix.h
+/usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
 
-/usr/local/include/opencv2/flann/matrix.h
-stdio.h
--
-general.h
-/usr/local/include/opencv2/flann/general.h
+/usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix_MKL.h
 
-/usr/local/include/opencv2/flann/miniflann.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/flann/opencv2/core.hpp
-opencv2/flann/defines.h
-/usr/local/include/opencv2/flann/opencv2/flann/defines.h
+/usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector.h
 
-/usr/local/include/opencv2/flann/nn_index.h
-general.h
-/usr/local/include/opencv2/flann/general.h
-matrix.h
-/usr/local/include/opencv2/flann/matrix.h
-result_set.h
-/usr/local/include/opencv2/flann/result_set.h
-params.h
-/usr/local/include/opencv2/flann/params.h
+/usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector_MKL.h
 
-/usr/local/include/opencv2/flann/params.h
-any.h
-/usr/local/include/opencv2/flann/any.h
-general.h
-/usr/local/include/opencv2/flann/general.h
-iostream
--
-map
--
+/usr/include/eigen3/Eigen/src/Core/products/SelfadjointProduct.h
 
-/usr/local/include/opencv2/flann/random.h
-algorithm
--
-cstdlib
--
-vector
--
-general.h
-/usr/local/include/opencv2/flann/general.h
+/usr/include/eigen3/Eigen/src/Core/products/SelfadjointRank2Update.h
 
-/usr/local/include/opencv2/flann/result_set.h
-algorithm
--
-cstring
--
-iostream
--
-limits
--
-set
--
-vector
--
+/usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixMatrix.h
 
-/usr/local/include/opencv2/flann/sampling.h
-matrix.h
-/usr/local/include/opencv2/flann/matrix.h
-random.h
-/usr/local/include/opencv2/flann/random.h
+/usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixMatrix_MKL.h
 
-/usr/local/include/opencv2/flann/saving.h
-cstring
--
-vector
--
-general.h
-/usr/local/include/opencv2/flann/general.h
-nn_index.h
-/usr/local/include/opencv2/flann/nn_index.h
+/usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixVector.h
 
-/usr/local/include/opencv2/flann/timer.h
-time.h
--
-opencv2/core.hpp
-/usr/local/include/opencv2/flann/opencv2/core.hpp
-opencv2/core/utility.hpp
-/usr/local/include/opencv2/flann/opencv2/core/utility.hpp
+/usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixVector_MKL.h
 
-/usr/local/include/opencv2/highgui.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/opencv2/core.hpp
-opencv2/imgcodecs.hpp
-/usr/local/include/opencv2/opencv2/imgcodecs.hpp
-opencv2/videoio.hpp
-/usr/local/include/opencv2/opencv2/videoio.hpp
-opencv2/highgui/highgui_c.h
-/usr/local/include/opencv2/opencv2/highgui/highgui_c.h
+/usr/include/eigen3/Eigen/src/Core/products/TriangularSolverMatrix.h
 
-/usr/local/include/opencv2/highgui/highgui_c.h
-opencv2/core/core_c.h
-/usr/local/include/opencv2/highgui/opencv2/core/core_c.h
-opencv2/imgproc/imgproc_c.h
-/usr/local/include/opencv2/highgui/opencv2/imgproc/imgproc_c.h
-opencv2/imgcodecs/imgcodecs_c.h
-/usr/local/include/opencv2/highgui/opencv2/imgcodecs/imgcodecs_c.h
-opencv2/videoio/videoio_c.h
-/usr/local/include/opencv2/highgui/opencv2/videoio/videoio_c.h
-
-/usr/local/include/opencv2/imgcodecs.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/opencv2/core.hpp
-opencv2/opencv.hpp
--
+/usr/include/eigen3/Eigen/src/Core/products/TriangularSolverMatrix_MKL.h
 
-/usr/local/include/opencv2/imgcodecs/imgcodecs_c.h
-opencv2/core/core_c.h
-/usr/local/include/opencv2/imgcodecs/opencv2/core/core_c.h
+/usr/include/eigen3/Eigen/src/Core/products/TriangularSolverVector.h
 
-/usr/local/include/opencv2/imgproc.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/opencv2/core.hpp
-opencv2/core.hpp
--
-opencv2/imgproc.hpp
+/usr/include/eigen3/Eigen/src/Core/util/BlasUtil.h
+
+/usr/include/eigen3/Eigen/src/Core/util/Constants.h
+
+/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
+
+/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h
+
+/usr/include/eigen3/Eigen/src/Core/util/MKL_support.h
+mkl.h
 -
-opencv2/imgcodecs.hpp
+mkl_lapacke.h
 -
-opencv2/highgui.hpp
+
+/usr/include/eigen3/Eigen/src/Core/util/Macros.h
+cstdlib
 -
 iostream
 -
-opencv2/imgproc.hpp
--
-opencv2/highgui.hpp
--
-opencv2/imgproc.hpp
--
-opencv2/highgui.hpp
--
-math.h
+
+/usr/include/eigen3/Eigen/src/Core/util/Memory.h
+unistd.h
 -
-opencv2/imgproc.hpp
+
+/usr/include/eigen3/Eigen/src/Core/util/Meta.h
+cfloat
 -
-opencv2/highgui.hpp
+math_constants.h
 -
-opencv2/imgproc.hpp
-/usr/local/include/opencv2/opencv2/imgproc.hpp
-opencv2/highgui.hpp
-/usr/local/include/opencv2/opencv2/highgui.hpp
-opencv2/imgproc/imgproc_c.h
-/usr/local/include/opencv2/opencv2/imgproc/imgproc_c.h
 
-/usr/local/include/opencv2/imgproc/imgproc_c.h
-opencv2/imgproc/types_c.h
-/usr/local/include/opencv2/imgproc/opencv2/imgproc/types_c.h
+/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
 
-/usr/local/include/opencv2/imgproc/types_c.h
-opencv2/core/core_c.h
-/usr/local/include/opencv2/imgproc/opencv2/core/core_c.h
+/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h
 
-/usr/local/include/opencv2/ml.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/opencv2/core.hpp
-float.h
--
-map
--
-iostream
--
+/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h
 
-/usr/local/include/opencv2/objdetect.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/opencv2/core.hpp
-opencv2/objdetect/detection_based_tracker.hpp
-/usr/local/include/opencv2/opencv2/objdetect/detection_based_tracker.hpp
-opencv2/objdetect/objdetect_c.h
-/usr/local/include/opencv2/opencv2/objdetect/objdetect_c.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./ComplexSchur.h
+./HessenbergDecomposition.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/././HessenbergDecomposition.h
 
-/usr/local/include/opencv2/objdetect/detection_based_tracker.hpp
-opencv2/core.hpp
--
-vector
--
+/usr/include/eigen3/Eigen/src/Eigenvalues/./HessenbergDecomposition.h
 
-/usr/local/include/opencv2/objdetect/objdetect_c.h
-opencv2/core/core_c.h
-/usr/local/include/opencv2/objdetect/opencv2/core/core_c.h
-deque
--
-vector
--
+/usr/include/eigen3/Eigen/src/Eigenvalues/./RealQZ.h
 
-/usr/local/include/opencv2/opencv.hpp
-opencv2/opencv_modules.hpp
-/usr/local/include/opencv2/opencv2/opencv_modules.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/opencv2/core.hpp
-opencv2/calib3d.hpp
-/usr/local/include/opencv2/opencv2/calib3d.hpp
-opencv2/features2d.hpp
-/usr/local/include/opencv2/opencv2/features2d.hpp
-opencv2/flann.hpp
-/usr/local/include/opencv2/opencv2/flann.hpp
-opencv2/highgui.hpp
-/usr/local/include/opencv2/opencv2/highgui.hpp
-opencv2/imgcodecs.hpp
-/usr/local/include/opencv2/opencv2/imgcodecs.hpp
-opencv2/imgproc.hpp
-/usr/local/include/opencv2/opencv2/imgproc.hpp
-opencv2/ml.hpp
-/usr/local/include/opencv2/opencv2/ml.hpp
-opencv2/objdetect.hpp
-/usr/local/include/opencv2/opencv2/objdetect.hpp
-opencv2/photo.hpp
-/usr/local/include/opencv2/opencv2/photo.hpp
-opencv2/shape.hpp
-/usr/local/include/opencv2/opencv2/shape.hpp
-opencv2/stitching.hpp
-/usr/local/include/opencv2/opencv2/stitching.hpp
-opencv2/superres.hpp
-/usr/local/include/opencv2/opencv2/superres.hpp
-opencv2/video.hpp
-/usr/local/include/opencv2/opencv2/video.hpp
-opencv2/videoio.hpp
-/usr/local/include/opencv2/opencv2/videoio.hpp
-opencv2/videostab.hpp
-/usr/local/include/opencv2/opencv2/videostab.hpp
-opencv2/viz.hpp
-/usr/local/include/opencv2/opencv2/viz.hpp
-opencv2/cudaarithm.hpp
-/usr/local/include/opencv2/opencv2/cudaarithm.hpp
-opencv2/cudabgsegm.hpp
-/usr/local/include/opencv2/opencv2/cudabgsegm.hpp
-opencv2/cudacodec.hpp
-/usr/local/include/opencv2/opencv2/cudacodec.hpp
-opencv2/cudafeatures2d.hpp
-/usr/local/include/opencv2/opencv2/cudafeatures2d.hpp
-opencv2/cudafilters.hpp
-/usr/local/include/opencv2/opencv2/cudafilters.hpp
-opencv2/cudaimgproc.hpp
-/usr/local/include/opencv2/opencv2/cudaimgproc.hpp
-opencv2/cudaobjdetect.hpp
-/usr/local/include/opencv2/opencv2/cudaobjdetect.hpp
-opencv2/cudaoptflow.hpp
-/usr/local/include/opencv2/opencv2/cudaoptflow.hpp
-opencv2/cudastereo.hpp
-/usr/local/include/opencv2/opencv2/cudastereo.hpp
-opencv2/cudawarping.hpp
-/usr/local/include/opencv2/opencv2/cudawarping.hpp
+/usr/include/eigen3/Eigen/src/Eigenvalues/./RealSchur.h
+./HessenbergDecomposition.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/././HessenbergDecomposition.h
 
-/usr/local/include/opencv2/opencv_modules.hpp
+/usr/include/eigen3/Eigen/src/Eigenvalues/./Tridiagonalization.h
 
-/usr/local/include/opencv2/photo.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/opencv2/core.hpp
-opencv2/imgproc.hpp
-/usr/local/include/opencv2/opencv2/imgproc.hpp
-opencv2/photo/photo_c.h
-/usr/local/include/opencv2/opencv2/photo/photo_c.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexEigenSolver.h
+./ComplexSchur.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./ComplexSchur.h
+
+/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexSchur.h
+./HessenbergDecomposition.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./HessenbergDecomposition.h
+
+/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexSchur_MKL.h
+Eigen/src/Core/util/MKL_support.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/Eigen/src/Core/util/MKL_support.h
+
+/usr/include/eigen3/Eigen/src/Eigenvalues/EigenSolver.h
+./RealSchur.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./RealSchur.h
+
+/usr/include/eigen3/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
+./RealQZ.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./RealQZ.h
 
-/usr/local/include/opencv2/photo/photo_c.h
-opencv2/core/core_c.h
-/usr/local/include/opencv2/photo/opencv2/core/core_c.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
+./Tridiagonalization.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./Tridiagonalization.h
 
-/usr/local/include/opencv2/shape.hpp
-opencv2/shape/emdL1.hpp
-/usr/local/include/opencv2/opencv2/shape/emdL1.hpp
-opencv2/shape/shape_transformer.hpp
-/usr/local/include/opencv2/opencv2/shape/shape_transformer.hpp
-opencv2/shape/hist_cost.hpp
-/usr/local/include/opencv2/opencv2/shape/hist_cost.hpp
-opencv2/shape/shape_distance.hpp
-/usr/local/include/opencv2/opencv2/shape/shape_distance.hpp
+/usr/include/eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h
 
-/usr/local/include/opencv2/shape/emdL1.hpp
-opencv2/core.hpp
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--
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-/usr/local/include/opencv2/opencv2/stitching/detail/camera.hpp
+/usr/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
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+/usr/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_MKL.h
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-/usr/local/include/opencv2/stitching/detail/camera.hpp
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-/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+/usr/include/eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h
 
-/usr/local/include/opencv2/stitching/detail/exposure_compensate.hpp
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+/usr/include/eigen3/Eigen/src/Geometry/AlignedBox.h
 
-/usr/local/include/opencv2/stitching/detail/matchers.hpp
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-/usr/local/include/opencv2/stitching/detail/opencv2/xfeatures2d/cuda.hpp
+/usr/include/eigen3/Eigen/src/Geometry/AngleAxis.h
 
-/usr/local/include/opencv2/stitching/detail/motion_estimators.hpp
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-/usr/local/include/opencv2/stitching/detail/util.hpp
-camera.hpp
-/usr/local/include/opencv2/stitching/detail/camera.hpp
+/usr/include/eigen3/Eigen/src/Geometry/EulerAngles.h
 
-/usr/local/include/opencv2/stitching/detail/seam_finders.hpp
-set
--
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-/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
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-/usr/local/include/opencv2/stitching/detail/opencv2/opencv_modules.hpp
+/usr/include/eigen3/Eigen/src/Geometry/Homogeneous.h
 
-/usr/local/include/opencv2/stitching/detail/util.hpp
-list
--
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-/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
-util_inl.hpp
-/usr/local/include/opencv2/stitching/detail/util_inl.hpp
+/usr/include/eigen3/Eigen/src/Geometry/Hyperplane.h
 
-/usr/local/include/opencv2/stitching/detail/util_inl.hpp
-queue
--
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-/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
-util.hpp
-/usr/local/include/opencv2/stitching/detail/util.hpp
+/usr/include/eigen3/Eigen/src/Geometry/OrthoMethods.h
 
-/usr/local/include/opencv2/stitching/detail/warpers.hpp
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-/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
-opencv2/core/cuda.hpp
-/usr/local/include/opencv2/stitching/detail/opencv2/core/cuda.hpp
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-/usr/local/include/opencv2/stitching/detail/opencv2/imgproc.hpp
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-/usr/local/include/opencv2/stitching/detail/opencv2/opencv_modules.hpp
-warpers_inl.hpp
-/usr/local/include/opencv2/stitching/detail/warpers_inl.hpp
+/usr/include/eigen3/Eigen/src/Geometry/ParametrizedLine.h
 
-/usr/local/include/opencv2/stitching/detail/warpers_inl.hpp
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-/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
-warpers.hpp
-/usr/local/include/opencv2/stitching/detail/warpers.hpp
-limits
--
+/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h
 
-/usr/local/include/opencv2/stitching/warpers.hpp
-opencv2/stitching/detail/warpers.hpp
-/usr/local/include/opencv2/stitching/opencv2/stitching/detail/warpers.hpp
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h
 
-/usr/local/include/opencv2/superres.hpp
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-/usr/local/include/opencv2/opencv2/core.hpp
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-/usr/local/include/opencv2/opencv2/superres/optical_flow.hpp
+/usr/include/eigen3/Eigen/src/Geometry/RotationBase.h
 
-/usr/local/include/opencv2/superres/optical_flow.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/superres/opencv2/core.hpp
+/usr/include/eigen3/Eigen/src/Geometry/Scaling.h
 
-/usr/local/include/opencv2/tracking.hpp
-opencv2/core/cvdef.h
-/usr/local/include/opencv2/opencv2/core/cvdef.h
-opencv2/tracking/tracker.hpp
--
-opencv2/tracking/tldDataset.hpp
--
+/usr/include/eigen3/Eigen/src/Geometry/Transform.h
 
-/usr/local/include/opencv2/tracking/feature.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/tracking/opencv2/core.hpp
-opencv2/imgproc.hpp
-/usr/local/include/opencv2/tracking/opencv2/imgproc.hpp
-iostream
--
-string
--
-time.h
--
+/usr/include/eigen3/Eigen/src/Geometry/Translation.h
 
-/usr/local/include/opencv2/tracking/onlineBoosting.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/tracking/opencv2/core.hpp
+/usr/include/eigen3/Eigen/src/Geometry/Umeyama.h
 
-/usr/local/include/opencv2/tracking/onlineMIL.hpp
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-/usr/local/include/opencv2/tracking/opencv2/core.hpp
-limits
--
+/usr/include/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h
 
-/usr/local/include/opencv2/tracking/tldDataset.hpp
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-/usr/local/include/opencv2/tracking/opencv2/core.hpp
+/usr/include/eigen3/Eigen/src/Householder/BlockHouseholder.h
 
-/usr/local/include/opencv2/tracking/tracker.hpp
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-/usr/local/include/opencv2/tracking/opencv2/core.hpp
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-/usr/local/include/opencv2/tracking/opencv2/imgproc/types_c.h
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-/usr/local/include/opencv2/tracking/feature.hpp
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-/usr/local/include/opencv2/tracking/onlineMIL.hpp
-onlineBoosting.hpp
-/usr/local/include/opencv2/tracking/onlineBoosting.hpp
+/usr/include/eigen3/Eigen/src/Householder/Householder.h
 
-/usr/local/include/opencv2/video.hpp
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-/usr/local/include/opencv2/opencv2/video/tracking.hpp
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-/usr/local/include/opencv2/opencv2/video/background_segm.hpp
-opencv2/video/tracking_c.h
-/usr/local/include/opencv2/opencv2/video/tracking_c.h
+/usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h
 
-/usr/local/include/opencv2/video/background_segm.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/video/opencv2/core.hpp
+/usr/include/eigen3/Eigen/src/Jacobi/Jacobi.h
 
-/usr/local/include/opencv2/video/tracking.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/video/opencv2/core.hpp
-opencv2/imgproc.hpp
-/usr/local/include/opencv2/video/opencv2/imgproc.hpp
+/usr/include/eigen3/Eigen/src/LU/Determinant.h
 
-/usr/local/include/opencv2/video/tracking_c.h
-opencv2/imgproc/types_c.h
-/usr/local/include/opencv2/video/opencv2/imgproc/types_c.h
+/usr/include/eigen3/Eigen/src/LU/FullPivLU.h
 
-/usr/local/include/opencv2/videoio.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/opencv2/core.hpp
+/usr/include/eigen3/Eigen/src/LU/InverseImpl.h
 
-/usr/local/include/opencv2/videoio/videoio_c.h
-opencv2/core/core_c.h
-/usr/local/include/opencv2/videoio/opencv2/core/core_c.h
+/usr/include/eigen3/Eigen/src/LU/PartialPivLU.h
 
-/usr/local/include/opencv2/videostab.hpp
-opencv2/videostab/stabilizer.hpp
-/usr/local/include/opencv2/opencv2/videostab/stabilizer.hpp
-opencv2/videostab/ring_buffer.hpp
-/usr/local/include/opencv2/opencv2/videostab/ring_buffer.hpp
+/usr/include/eigen3/Eigen/src/LU/PartialPivLU_MKL.h
+Eigen/src/Core/util/MKL_support.h
+/usr/include/eigen3/Eigen/src/LU/Eigen/src/Core/util/MKL_support.h
 
-/usr/local/include/opencv2/videostab/deblurring.hpp
-vector
--
-opencv2/core.hpp
-/usr/local/include/opencv2/videostab/opencv2/core.hpp
+/usr/include/eigen3/Eigen/src/LU/arch/Inverse_SSE.h
 
-/usr/local/include/opencv2/videostab/fast_marching.hpp
-cmath
--
-queue
--
-algorithm
--
-opencv2/core.hpp
-/usr/local/include/opencv2/videostab/opencv2/core.hpp
-fast_marching_inl.hpp
-/usr/local/include/opencv2/videostab/fast_marching_inl.hpp
+/usr/include/eigen3/Eigen/src/QR/ColPivHouseholderQR.h
 
-/usr/local/include/opencv2/videostab/fast_marching_inl.hpp
-opencv2/videostab/fast_marching.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/fast_marching.hpp
+/usr/include/eigen3/Eigen/src/QR/ColPivHouseholderQR_MKL.h
+Eigen/src/Core/util/MKL_support.h
+/usr/include/eigen3/Eigen/src/QR/Eigen/src/Core/util/MKL_support.h
 
-/usr/local/include/opencv2/videostab/frame_source.hpp
-vector
--
-opencv2/core.hpp
-/usr/local/include/opencv2/videostab/opencv2/core.hpp
+/usr/include/eigen3/Eigen/src/QR/FullPivHouseholderQR.h
 
-/usr/local/include/opencv2/videostab/global_motion.hpp
-vector
--
-fstream
--
-opencv2/core.hpp
-/usr/local/include/opencv2/videostab/opencv2/core.hpp
-opencv2/features2d.hpp
-/usr/local/include/opencv2/videostab/opencv2/features2d.hpp
-opencv2/opencv_modules.hpp
-/usr/local/include/opencv2/videostab/opencv2/opencv_modules.hpp
-opencv2/videostab/optical_flow.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/optical_flow.hpp
-opencv2/videostab/motion_core.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/motion_core.hpp
-opencv2/videostab/outlier_rejection.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/outlier_rejection.hpp
-opencv2/cudaimgproc.hpp
-/usr/local/include/opencv2/videostab/opencv2/cudaimgproc.hpp
+/usr/include/eigen3/Eigen/src/QR/HouseholderQR.h
 
-/usr/local/include/opencv2/videostab/inpainting.hpp
-vector
--
-opencv2/core.hpp
-/usr/local/include/opencv2/videostab/opencv2/core.hpp
-opencv2/videostab/optical_flow.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/optical_flow.hpp
-opencv2/videostab/fast_marching.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/fast_marching.hpp
-opencv2/videostab/global_motion.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/global_motion.hpp
-opencv2/photo.hpp
-/usr/local/include/opencv2/videostab/opencv2/photo.hpp
+/usr/include/eigen3/Eigen/src/QR/HouseholderQR_MKL.h
+../Core/util/MKL_support.h
+/usr/include/eigen3/Eigen/src/Core/util/MKL_support.h
 
-/usr/local/include/opencv2/videostab/log.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/videostab/opencv2/core.hpp
+/usr/include/eigen3/Eigen/src/SVD/BDCSVD.h
 
-/usr/local/include/opencv2/videostab/motion_core.hpp
-cmath
--
-opencv2/core.hpp
-/usr/local/include/opencv2/videostab/opencv2/core.hpp
+/usr/include/eigen3/Eigen/src/SVD/JacobiSVD.h
 
-/usr/local/include/opencv2/videostab/motion_stabilizing.hpp
-vector
--
-utility
--
-opencv2/core.hpp
-/usr/local/include/opencv2/videostab/opencv2/core.hpp
-opencv2/videostab/global_motion.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/global_motion.hpp
+/usr/include/eigen3/Eigen/src/SVD/JacobiSVD_MKL.h
+Eigen/src/Core/util/MKL_support.h
+/usr/include/eigen3/Eigen/src/SVD/Eigen/src/Core/util/MKL_support.h
 
-/usr/local/include/opencv2/videostab/optical_flow.hpp
-opencv2/core.hpp
-/usr/local/include/opencv2/videostab/opencv2/core.hpp
-opencv2/opencv_modules.hpp
-/usr/local/include/opencv2/videostab/opencv2/opencv_modules.hpp
-opencv2/cudaoptflow.hpp
-/usr/local/include/opencv2/videostab/opencv2/cudaoptflow.hpp
+/usr/include/eigen3/Eigen/src/SVD/SVDBase.h
 
-/usr/local/include/opencv2/videostab/outlier_rejection.hpp
-vector
--
-opencv2/core.hpp
-/usr/local/include/opencv2/videostab/opencv2/core.hpp
-opencv2/videostab/motion_core.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/motion_core.hpp
+/usr/include/eigen3/Eigen/src/SVD/UpperBidiagonalization.h
 
-/usr/local/include/opencv2/videostab/ring_buffer.hpp
-vector
--
-opencv2/imgproc.hpp
-/usr/local/include/opencv2/videostab/opencv2/imgproc.hpp
+/usr/include/eigen3/Eigen/src/StlSupport/StdVector.h
+details.h
+/usr/include/eigen3/Eigen/src/StlSupport/details.h
 
-/usr/local/include/opencv2/videostab/stabilizer.hpp
-vector
--
-ctime
--
-opencv2/core.hpp
-/usr/local/include/opencv2/videostab/opencv2/core.hpp
-opencv2/imgproc.hpp
-/usr/local/include/opencv2/videostab/opencv2/imgproc.hpp
-opencv2/videostab/global_motion.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/global_motion.hpp
-opencv2/videostab/motion_stabilizing.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/motion_stabilizing.hpp
-opencv2/videostab/frame_source.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/frame_source.hpp
-opencv2/videostab/log.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/log.hpp
-opencv2/videostab/inpainting.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/inpainting.hpp
-opencv2/videostab/deblurring.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/deblurring.hpp
-opencv2/videostab/wobble_suppression.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/wobble_suppression.hpp
+/usr/include/eigen3/Eigen/src/StlSupport/details.h
 
-/usr/local/include/opencv2/videostab/wobble_suppression.hpp
-vector
--
-opencv2/core.hpp
-/usr/local/include/opencv2/videostab/opencv2/core.hpp
-opencv2/core/cuda.hpp
-/usr/local/include/opencv2/videostab/opencv2/core/cuda.hpp
-opencv2/videostab/global_motion.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/global_motion.hpp
-opencv2/videostab/log.hpp
-/usr/local/include/opencv2/videostab/opencv2/videostab/log.hpp
+/usr/include/eigen3/Eigen/src/misc/Image.h
 
-/usr/local/include/opencv2/viz.hpp
-opencv2/viz/types.hpp
--
-opencv2/viz/widgets.hpp
--
-opencv2/viz/viz3d.hpp
--
-opencv2/viz/vizcore.hpp
--
+/usr/include/eigen3/Eigen/src/misc/Kernel.h
 
-/usr/local/include/opencv2/viz/types.hpp
-string
--
-opencv2/core.hpp
--
-opencv2/core/affine.hpp
--
+/usr/include/eigen3/Eigen/src/plugins/ArrayCwiseBinaryOps.h
 
-/usr/local/include/opencv2/viz/viz3d.hpp
-opencv2/core.hpp
--
-opencv2/viz/types.hpp
--
-opencv2/viz/widgets.hpp
--
+/usr/include/eigen3/Eigen/src/plugins/ArrayCwiseUnaryOps.h
 
-/usr/local/include/opencv2/viz/vizcore.hpp
-opencv2/viz/types.hpp
--
-opencv2/viz/widgets.hpp
--
-opencv2/viz/viz3d.hpp
--
+/usr/include/eigen3/Eigen/src/plugins/BlockMethods.h
 
-/usr/local/include/opencv2/viz/widgets.hpp
-opencv2/viz/types.hpp
--
+/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h
 
-/usr/local/include/opencv2/xfeatures2d.hpp
-opencv2/features2d.hpp
-/usr/local/include/opencv2/opencv2/features2d.hpp
-opencv2/xfeatures2d/nonfree.hpp
-/usr/local/include/opencv2/opencv2/xfeatures2d/nonfree.hpp
+/usr/include/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h
 
-/usr/local/include/opencv2/xfeatures2d/cuda.hpp
-opencv2/core/cuda.hpp
-/usr/local/include/opencv2/xfeatures2d/opencv2/core/cuda.hpp
+/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h
 
-/usr/local/include/opencv2/xfeatures2d/nonfree.hpp
-opencv2/features2d.hpp
-/usr/local/include/opencv2/xfeatures2d/opencv2/features2d.hpp
+/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h
 
diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/depend.internal b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/depend.internal
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diff --git a/apps/specular_estimation/src/Ceres.h b/apps/specular_estimation/src/Ceres.h
index 8c5b16bdc20d25fcad4fd8538a3f68895c8008d6..f0b6be0b6a9ab4bf243ee691d8cef324937316ed 100644
--- a/apps/specular_estimation/src/Ceres.h
+++ b/apps/specular_estimation/src/Ceres.h
@@ -11,42 +11,7 @@ using ceres::Problem;
 using ceres::Solver;
 using ceres::Solve;
 
-void specularMinimisation(double& SpecularIntensity, double& SpecularPower, double& residualValue, cv::Vec3d residual,
-	std::vector< cv::Vec3d > residuals,
-	double totalResidual,
-	cv::Mat residualImage,
-	bool calculateResidual,
-	glm::mat4 depthProjectionMatrix,
-	glm::mat4 depthViewMatrix,
-	int width,
-	int height,
-	glm::vec3 position,
-	float& horizontalAngle,
-	float& verticalAngle,
-	float& FoV,
-	glm::vec3 lightInvDir,
-	cv::Mat lightDirections,
-	std::vector< cv::Mat > textureImages,
-	int lightNumber,
-	int numberOfLights,
-	GLuint SpecularIntensityID,
-	GLuint SpecularPowerID,
-	GLuint programID,
-	GLuint ModelMatrixID,
-	GLuint ViewMatrixID,
-	GLuint DepthBiasID,
-	GLuint lightInvDirID,
-	GLuint Texture,
-	GLuint TextureID,
-	GLuint depthTexture,
-	GLuint ShadowMapID,
-	GLuint vertexbuffer,
-	GLuint uvbuffer,
-	GLuint normalbuffer,
-	GLuint elementbuffer,
-	std::vector<unsigned int> indices,
-	GLuint MatrixID,
-	std::string modelPath);
+void specularMinimisation(double& SpecularIntensity, double& SpecularPower, double& residualValue);
 
 // A templated cost functor that implements the residual r = 10 - x.
 // The method operator() is templated so that we can then use an automatic differentiation wrapper around it to generate its derivatives.
@@ -54,131 +19,29 @@ struct CostFunctor {
 	
 	// Pass variables into struct
 	//CostFunctor(GLuint bufferID):bufferID(bufferID){};
-	CostFunctor(double& SpecularIntensity, double& SpecularPower, double& residualValue, cv::Vec3d residual, std::vector< cv::Vec3d > residuals, double totalResidual, cv::Mat residualImage, bool calculateResidual, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, glm::vec3 position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3 lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int lightNumber, int numberOfLights, GLuint SpecularIntensityID, GLuint SpecularPowerID, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, std::string modelPath):SpecularIntensity(SpecularIntensity), SpecularPower(SpecularPower), residualValue(residualValue), residual(residual), residuals(residuals), totalResidual(totalResidual), residualImage(residualImage), calculateResidual(calculateResidual), depthProjectionMatrix(depthProjectionMatrix), depthViewMatrix(depthViewMatrix), width(width), height(height), position(position), horizontalAngle(horizontalAngle), verticalAngle(verticalAngle), FoV(FoV), lightInvDir(lightInvDir), lightDirections(lightDirections), textureImages(textureImages), lightNumber(lightNumber), numberOfLights(numberOfLights), SpecularIntensityID(SpecularIntensityID), SpecularPowerID(SpecularPowerID), programID(programID), ModelMatrixID(ModelMatrixID), ViewMatrixID(ViewMatrixID), DepthBiasID(DepthBiasID), lightInvDirID(lightInvDirID), Texture(Texture), TextureID(TextureID), depthTexture(depthTexture), ShadowMapID(ShadowMapID), vertexbuffer(vertexbuffer), uvbuffer(uvbuffer), normalbuffer(normalbuffer), elementbuffer(elementbuffer), indices(indices), MatrixID(MatrixID), modelPath(modelPath){}
+	CostFunctor(double SpecularIntensity, double SpecularPower): SpecularIntensity(SpecularIntensity), SpecularPower(SpecularPower) {}
 	
 	template <typename T> bool operator()(const T* const SpecularIntensity, const T* const SpecularPower, T* residualValue) const {
 		
 		//residual[0] = x[0];
-		residualValue[0] = function(SpecularIntensity, SpecularPower);
+		residualValue[0] = SpecularIntensity[0];
 		return true;
 	}
 	
-	//template <typename T> T function(T* v1, T* v2)  {
-	template <typename T> T function(T* SpecularIntensity, T* SpecularPower) {
-		//Use GLuint for something
-		//bufferID
-		
-		do {
-			// Render the shadows
-			glm::mat4 depthModelMatrix = glm::mat4(1.0);
-			glm::mat4 depthMVP = depthProjectionMatrix * depthViewMatrix * depthModelMatrix;
-			//renderShadows(FramebufferName, shadowResolution, depthProgramID, depthProjectionMatrix, depthViewMatrix, depthMatrixID, vertexbuffer, elementbuffer, indices, depthModelMatrix, depthMVP);
-
-			// Compute the MVP matrix from keyboard and mouse input
-			glm::mat4 ModelMatrix = glm::mat4(1.0);
-			glm::mat4 MVP, ViewMatrix, depthBiasMVP, ProjectionMatrix;
-			bool perspectiveProjection, shadowControl;
-			//computeMatricesFromInputs(windowWidth, windowHeight, position, horizontalAngle, verticalAngle, FoV, mouseSpeed, ProjectionMatrix, ViewMatrix, lightInvDir, depthProjectionMatrix, depthViewMatrix, perspectiveProjection, shadowControl, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, calculateResidual);
-			computeMatricesFromLights(width, height, position, horizontalAngle, verticalAngle, FoV, ProjectionMatrix, ViewMatrix, lightInvDir, depthProjectionMatrix, depthViewMatrix, perspectiveProjection = false, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, calculateResidual);
-			MVP = ProjectionMatrix * ViewMatrix * ModelMatrix;
-
-			glm::mat4 biasMatrix(
-				0.5, 0.0, 0.0, 0.0,
-				0.0, 0.5, 0.0, 0.0,
-				0.0, 0.0, 0.5, 0.0,
-				0.5, 0.5, 0.5, 1.0
-			);
-
-			depthBiasMVP = biasMatrix * depthMVP;
-			
-				
-			// Render the polygons
-			renderPolygons(width, height, programID, lightInvDir, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MVP, ModelMatrix, ViewMatrix, depthBiasMVP, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower);
-			
-			// Optionally render the shadowmap (for debug only)
-			//void renderShadowMap(GLuint quad_programID, GLuint depthTexture, GLuint texID, GLuint quad_vertexbuffer);
-			
-			
-			
-			//totalResidual = returnResidual(lightNumber, height, width, textureImages, residualImage, residuals, SpecularIntensity, SpecularPower);
-			computeResidual(lightNumber, height, width, modelPath, textureImages, residualImage, residual, totalResidual, SpecularIntensity, SpecularPower);
-			residuals.push_back(residual);
-			
-			// Set up the only cost function (also known as residual). This uses auto-differentiation to obtain the derivative (jacobian).
-			// AutoDiffCostFunction<CostFunctor, (Dimensions of Residual), (Dimensions of Variables)>
-			//CostFunction* cost_function = new AutoDiffCostFunction<CostFunctor, 1, 2>(new CostFunctor);
-			//problem.AddResidualBlock(cost_function, NULL, &SpecularIntensity, &SpecularPower);
-			
-			// Swap buffers
-			glfwSwapBuffers(window);
-			glfwPollEvents();
-			
-			
-			
-			//TODO: Save model image and residual
-			
-			
-			//CostFunction* cost_function = new AutoDiffCostFunction<CostFunctor, 1, 1>(new CostFunctor);
-			//problem.AddResidualBlock(cost_function, NULL, &x);
-			
-			lightNumber++;
-		} while (lightNumber < numberOfLights);
-		//} while (glfwGetKey(window, GLFW_KEY_ESCAPE) != GLFW_PRESS && glfwWindowShouldClose(window) == 0); // Check if the ESC key was pressed or the window was closed
-		
-		lightNumber = 0;
-	  
-		//return T(v1[0] + v2[0]);
-		return totalResidual;
-	}
+	
 	
 	// Factory to hide the construction of the CostFunction object from the client code
-	/*static ceres::CostFunction* Create(SpecularIntensity, SpecularPower, residualValue, residual, residuals, totalResidual, residualImage, calculateResidual, depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath) {
-		return (new ceres::AutoDiffCostFunction<CostFunctor, 1, 1, 1>(new CostFunctor(SpecularIntensity, SpecularPower, residualValue, residual, residuals, totalResidual, residualImage, calculateResidual, depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath)));
+	/*static ceres::CostFunction* Create(SpecularIntensity, SpecularPower, residualValue) {
+		return (new ceres::AutoDiffCostFunction<CostFunctor, 1, 1, 1>(new CostFunctor(SpecularIntensity, SpecularPower, residualValue)));
 	}*/
 	
 	
 	// Access variables in struct
-	//private:
+	private:
 	//GLuint bufferID;
 	double& SpecularIntensity;
 	double& SpecularPower;
-	double& residualValue;
-	cv::Vec3d residual;
-	std::vector< cv::Vec3d > residuals;
-	double totalResidual;
-	cv::Mat residualImage;
-	bool calculateResidual;
-	glm::mat4 depthProjectionMatrix;
-	glm::mat4 depthViewMatrix;
-	int width;
-	int height;
-	glm::vec3 position;
-	float& horizontalAngle;
-	float& verticalAngle;
-	float& FoV;
-	glm::vec3 lightInvDir;
-	cv::Mat lightDirections;
-	std::vector< cv::Mat > textureImages;
-	int lightNumber;
-	int numberOfLights;
-	GLuint SpecularIntensityID;
-	GLuint SpecularPowerID;
-	GLuint programID;
-	GLuint ModelMatrixID;
-	GLuint ViewMatrixID;
-	GLuint DepthBiasID;
-	GLuint lightInvDirID;
-	GLuint Texture;
-	GLuint TextureID;
-	GLuint depthTexture;
-	GLuint ShadowMapID;
-	GLuint vertexbuffer;
-	GLuint uvbuffer;
-	GLuint normalbuffer;
-	GLuint elementbuffer;
-	std::vector<unsigned int> indices;
-	GLuint MatrixID;
-	std::string modelPath;
+	//double& residualValue;
 };
 
 /*struct CostFunctor {
@@ -190,42 +53,7 @@ struct CostFunctor {
   }
 };*/
 
-void specularMinimisation(double& SpecularIntensity, double& SpecularPower, double& residualValue, cv::Vec3d residual,
-	std::vector< cv::Vec3d > residuals,
-	double totalResidual,
-	cv::Mat residualImage,
-	bool calculateResidual,
-	glm::mat4 depthProjectionMatrix,
-	glm::mat4 depthViewMatrix,
-	int width,
-	int height,
-	glm::vec3 position,
-	float& horizontalAngle,
-	float& verticalAngle,
-	float& FoV,
-	glm::vec3 lightInvDir,
-	cv::Mat lightDirections,
-	std::vector< cv::Mat > textureImages,
-	int lightNumber,
-	int numberOfLights,
-	GLuint SpecularIntensityID,
-	GLuint SpecularPowerID,
-	GLuint programID,
-	GLuint ModelMatrixID,
-	GLuint ViewMatrixID,
-	GLuint DepthBiasID,
-	GLuint lightInvDirID,
-	GLuint Texture,
-	GLuint TextureID,
-	GLuint depthTexture,
-	GLuint ShadowMapID,
-	GLuint vertexbuffer,
-	GLuint uvbuffer,
-	GLuint normalbuffer,
-	GLuint elementbuffer,
-	std::vector<unsigned int> indices,
-	GLuint MatrixID,
-	std::string modelPath) {
+void specularMinimisation(double& SpecularIntensity, double& SpecularPower, double& residualValue) {
 	
   // The variable to solve for with its initial value. It will be mutated in place by the solver.
   const double initialSpecularIntensity = SpecularIntensity;
@@ -236,8 +64,8 @@ void specularMinimisation(double& SpecularIntensity, double& SpecularPower, doub
 
   // Set up the only cost function (also known as residual). This uses auto-differentiation to obtain the derivative (jacobian).
   // AutoDiffCostFunction<CostFunctor, (Dimensions of Residual), (Dimensions of Variables)>
-  ceres::CostFunction* cost_function = new AutoDiffCostFunction<CostFunctor, 1, 1, 1>(new CostFunctor(SpecularIntensity, SpecularPower, residualValue, residual, residuals, totalResidual, residualImage, calculateResidual, depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath));
-  //ceres::CostFunction* cost_function = CostFunctor::Create(SpecularIntensity, SpecularPower, residualValue, residual, residuals, totalResidual, residualImage, calculateResidual, depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath);
+  ceres::CostFunction* cost_function = new AutoDiffCostFunction<CostFunctor, 1, 1, 1>(new CostFunctor(SpecularIntensity, SpecularPower));
+  //ceres::CostFunction* cost_function = CostFunctor::Create(SpecularIntensity, SpecularPower, residualValue);
   problem.AddResidualBlock(cost_function, NULL, &SpecularIntensity, &SpecularPower);
 
   // Run the solver!
diff --git a/apps/specular_estimation/src/Charuco.h b/apps/specular_estimation/src/Charuco.h
index f1d70988b8ef500ef00f4e9bfe38d885052c0c0f..6310969448f34bb390e881ba91168190c178123d 100644
--- a/apps/specular_estimation/src/Charuco.h
+++ b/apps/specular_estimation/src/Charuco.h
@@ -24,7 +24,7 @@ void undistortCharuco(cv::Ptr<cv::aruco::CharucoBoard> board, cv::Mat inputImage
 void charucoCalibration(int width, int height, cv::Ptr<cv::aruco::CharucoBoard> & charucoBoard, cv::Mat & charucoBoardImage, cv::Mat & cameraMatrix, cv::Mat & distortionCoefficients) {
 
 	std::vector< cv::Mat > charucoImages;
-	const std::string charucoPath = "/home/thomas/Documents/2017-12-04/charuco/";
+	const std::string charucoPath = "/media/tw00275/ESD-USB/2017-12-04/charuco/";
 	
 	cameraMatrix           = cv::imread(charucoPath + "cameraMatrix.png",           cv::IMREAD_COLOR);
 	distortionCoefficients = cv::imread(charucoPath + "distortionCoefficients.png", cv::IMREAD_COLOR);
diff --git a/apps/specular_estimation/src/OpenCV.h b/apps/specular_estimation/src/OpenCV.h
index 79fe91d5b1084295b78760cf734193d8f4dfc72a..862b750adb1ec25d4c0e8ce0a89acdd0b2d3f482 100644
--- a/apps/specular_estimation/src/OpenCV.h
+++ b/apps/specular_estimation/src/OpenCV.h
@@ -144,8 +144,8 @@ void loadSurfaceNormals(cv::Mat lightDirections, int width, int height, int imag
 		
 		storageWrite.open(normalMapName, cv::FileStorage::WRITE);
 		storageWrite << "normals" << normals;
-		storageWrite.release();
 	}
+	storageWrite.release();
 	/*
 	if (!Z.data) {
 		Z = cv::Mat(height, width, CV_32FC2, cv::Scalar::all(0));
diff --git a/apps/specular_estimation/src/OpenGL.h b/apps/specular_estimation/src/OpenGL.h
index 34440075770cdcfd7119d97983850eafdfe04422..35cc0c707560a4c00bf3cea778cd82a87b7bdcf3 100644
--- a/apps/specular_estimation/src/OpenGL.h
+++ b/apps/specular_estimation/src/OpenGL.h
@@ -35,24 +35,9 @@ using ceres::Problem;
 using ceres::Solver;
 using ceres::Solve;
 
-void computeMatricesFromInputs(int windowWidth, int windowHeight, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, float mouseSpeed, glm::mat4& ProjectionMatrix, glm::mat4& ViewMatrix, glm::vec3& lightInvDir, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, bool& perspectiveProjection, bool& shadowControl, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, bool& calculateResidual);
-void computeMatricesFromLights(int windowWidth, int windowHeight, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::mat4& ProjectionMatrix, glm::mat4& ViewMatrix, glm::vec3& lightInvDir, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, bool& perspectiveProjection, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, bool& calculateResidual);
-void createMesh(cv::Mat Z, cv::Mat normals, std::vector<glm::vec3> & out_vertices, std::vector<glm::vec2> & out_uvs, std::vector<glm::vec3> & out_normals, std::vector<unsigned int> & out_indices);
-GLuint loadMat(cv::Mat cv_texture);
-void initialiseOpenGL(cv::Mat cv_depth, cv::Mat cv_normals, cv::Mat cv_texture, std::vector< cv::Mat > textureImages, cv::Mat lightDirections, int& windowWidth, int& windowHeight, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, GLuint& programID, GLuint& MatrixID, GLuint& ModelMatrixID, GLuint& ViewMatrixID, GLuint& DepthBiasID, GLuint& lightInvDirID, GLuint& Texture, GLuint& TextureID, GLuint& depthTexture, GLuint& ShadowMapID, GLuint& vertexbuffer, GLuint& uvbuffer, GLuint& normalbuffer, GLuint& elementbuffer, std::vector<unsigned int> & indices, GLuint& depthProgramID, GLuint& quad_programID, GLuint& FramebufferName, GLuint& quad_vertexbuffer, GLuint& VertexArrayID, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower);
-//void openGL(int& lightNumber, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, GLuint programID, GLuint MatrixID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint depthProgramID, GLuint quad_programID, GLuint FramebufferName, GLuint quad_vertexbuffer, GLuint VertexArrayID, int numberOfLights, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, bool& calculateResidual);
-void terminateOpenGL(GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, GLuint programID, GLuint depthProgramID, GLuint quad_programID, GLuint Texture, GLuint FramebufferName, GLuint depthTexture, GLuint quad_vertexbuffer, GLuint VertexArrayID);
-void renderPolygons(int windowWidth, int windowHeight, GLuint programID, glm::vec3 lightInvDir, GLuint MatrixID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, glm::mat4 MVP, glm::mat4 ModelMatrix, glm::mat4 ViewMatrix, glm::mat4 depthBiasMVP, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower);
-void renderShadows(GLuint FramebufferName, int shadowResolution, GLuint depthProgramID, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, GLuint depthMatrixID, GLuint vertexbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, glm::mat4 depthModelMatrix, glm::mat4 depthMVP);
-void renderShadowMap(GLuint quad_programID, GLuint depthTexture, GLuint texID, GLuint quad_vertexbuffer);
-void computeResidual(int imageNumber, int windowHeight, int windowWidth, std::string modelPath, std::vector < cv::Mat > textureImages, cv::Mat& residual, cv::Vec3d& residuals, double& sum, double SpecularIntensity, double SpecularPower);
-double returnResidual(int imageNumber, int windowHeight, int windowWidth, std::vector < cv::Mat > textureImages, cv::Mat& residual, cv::Vec3d& residuals, double SpecularIntensity, double SpecularPower);
-void computeResiduals(cv::Vec3d& residual, std::vector< cv::Vec3d >& residuals, double& totalResidual, cv::Mat& residualImage, bool calculateResidual, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, std::string modelPath, double& x, Problem& problem);
-void viewModel(cv::Vec3d& residual, std::vector< cv::Vec3d >& residuals, double& totalResidual, cv::Mat& residualImage, bool calculateResidual, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, std::string modelPath);
-
 class OpenGL {
 	public:
-		OpenGL(cv::Mat cv_depth, cv::Mat cv_normals, cv::Mat cv_texture, std::vector<cv::Mat> textureImages, cv::Mat lightDirections, int windowWidth, int windowHeight) {
+		OpenGL(cv::Mat cv_depth, cv::Mat cv_normals, cv::Mat cv_texture, std::vector<cv::Mat> textureImages, cv::Mat lightDirections, int windowWidth, int windowHeight, const std::string modelPath) {
 			// Initialise the GLFW library first
 			if (!glfwInit()) {
 				std::cerr << "Failed to initialise GLFW.\n";
@@ -67,7 +52,7 @@ class OpenGL {
 			glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
 			glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE); // Only needed for macOS
 			glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE); // Disable old OpenGL
-
+			
 			// Set the shadow resolution to 4096x4096
 			int shadowResolution = 4096;
 
@@ -122,24 +107,20 @@ class OpenGL {
 			glBindVertexArray(VertexArrayID);
 
 			// Create and compile the GLSL program from the shaders
-			depthProgramID = LoadShaders("/home/thomas/Documents/Minimisation/apps/specular_estimation/src/DepthRTT.vertexshader", "/home/thomas/Documents/Minimisation/apps/specular_estimation/src/DepthRTT.fragmentshader");
+			depthProgramID = LoadShaders("/user/HS222/tw00275/PhD/Minimisation/apps/specular_estimation/src/DepthRTT.vertexshader", "/user/HS222/tw00275/PhD/Minimisation/apps/specular_estimation/src/DepthRTT.fragmentshader");
 
 			// Get a handle for the "MVP" uniform
 			GLuint depthMatrixID = glGetUniformLocation(depthProgramID, "depthMVP");
 
 			// Load the texture
 			//GLuint Texture = loadDDS("C:/Users/tdwal/Documents/repos/OpenGLTutorials/tutorial16_shadowmaps/uvmap.DDS");
-			Texture = loadMat(cv_texture);
+			Texture = loadMat();
 			std::cout << "Texture loaded.\n\n";
 
 			// Read the .obj file
-			std::vector<glm::vec3> vertices;
-			std::vector<glm::vec2> uvs;
-			std::vector<glm::vec3> normals;
-			//std::vector<unsigned int> indices;
 			//bool res = loadOBJ("C:/Users/tdwal/Documents/repos/OpenGLTutorials/tutorial16_shadowmaps/room_thickwalls.obj", vertices, uvs, normals);
-			createMesh(cv_depth, cv_normals, vertices, uvs, normals, indices);
-			std::cout << "\nModel created.\n\n";
+			createMesh(cv_normals, cv_depth);
+			std::cout << "Model created.\n\n";
 
 			// Load it into a VBO
 			//GLuint vertexbuffer; // This will identify the vertex buffer
@@ -210,13 +191,13 @@ class OpenGL {
 			glBufferData(GL_ARRAY_BUFFER, sizeof(g_quad_vertex_buffer_data), g_quad_vertex_buffer_data, GL_STATIC_DRAW);
 
 			// Create and compile the GLSL program from the shaders
-			quad_programID = LoadShaders("/home/thomas/Documents/Minimisation/apps/specular_estimation/src/Passthrough.vertexshader", "/home/thomas/Documents/Minimisation/apps/specular_estimation/src/SimpleTexture.fragmentshader");
+			/*quad_programID = LoadShaders("/user/HS222/tw00275/PhD/Minimisation/apps/specular_estimation/src/Passthrough.vertexshader", "/user/HS222/tw00275/PhD/Minimisation/apps/specular_estimation/src/SimpleTexture.fragmentshader");
 			std::cout << "Shaders loaded.\n";
-			GLuint texID = glGetUniformLocation(quad_programID, "texture");
-			std::cout << "Uniform Location of texture found.\n";
+			texID = glGetUniformLocation(quad_programID, "myTexture");
+			std::cout << "Uniform Location of texture found.\n";*/
 
 			// Create and compile the GLSL program from the shaders
-			programID = LoadShaders("/home/thomas/Documents/Minimisation/apps/specular_estimation/src/ShadowMapping.vertexshader", "/home/thomas/Documents/Minimisation/apps/specular_estimation/src/ShadowMapping.fragmentshader");
+			programID = LoadShaders("/user/HS222/tw00275/PhD/Minimisation/apps/specular_estimation/src/ShadowMapping.vertexshader", "/user/HS222/tw00275/PhD/Minimisation/apps/specular_estimation/src/ShadowMapping.fragmentshader");
 
 			// Get a handle for the "myTextureSampler" uniform
 			TextureID = glGetUniformLocation(programID, "myTextureSampler");
@@ -250,6 +231,8 @@ class OpenGL {
 			FoV = 60.0f;
 			// Mouse Speed
 			float mouseSpeed = 0.005f;
+			
+			std::cout << "Initialised OpenGL\n";
 		}
 		
 		~OpenGL() {
@@ -260,7 +243,7 @@ class OpenGL {
 			glDeleteBuffers(1, &elementbuffer);
 			glDeleteProgram(programID);
 			glDeleteProgram(depthProgramID);
-			glDeleteProgram(quad_programID);
+			//glDeleteProgram(quad_programID);
 			glDeleteTextures(1, &Texture);
 
 			glDeleteFramebuffers(1, &FramebufferName);
@@ -273,6 +256,9 @@ class OpenGL {
 		}
 	
 		void renderPolygons(double SpecularIntensity, double SpecularPower) {
+			
+			std::cout << "Rendering polygons...\n";
+			
 			// Render to the screen
 			glBindFramebuffer(GL_FRAMEBUFFER, 0);
 			glViewport(0, 0, windowWidth, windowHeight); // Render on the whole framebuffer, complete from the lower left corner to the upper right
@@ -359,45 +345,45 @@ class OpenGL {
 			glDisableVertexAttribArray(2);
 		}
 		
-		void createMesh() {
-			std::cout << "Width: " << cv_normals.cols << ", Height: " << cv_normals.rows << std::endl;
-			std::cout << "Creating mesh from depth map and normals:\n\n";
+		void createMesh(cv::Mat cv_normals, cv::Mat cv_depth) {
+			//std::cout << "Width: " << cv_normals.cols << ", Height: " << cv_normals.rows << std::endl;
+			std::cout << "Creating " << cv_normals.cols << "x" << cv_normals.rows << " mesh from depth map and normals... ";
 
 			flip(cv_normals, cv_normals, 0);
 			flip(cv_depth, cv_depth, 0);
 
 			for (int y = 0; y <= cv_normals.rows; y++) {
 				for (int x = 0; x <= cv_normals.cols; x++) {
-					out_vertices.push_back(glm::vec3(float(x - (cv_normals.cols / 2)) / cv_normals.rows, float(y - (cv_normals.rows / 2)) / cv_normals.rows, 0));
-					//out_vertices.push_back(glm::vec3(float(x - (cv_normals.cols / 2)) / cv_normals.rows, float(y - (cv_normals.rows / 2)) / cv_normals.rows, -cv_depth.at<float>(y, x) / (cv_normals.rows * 10)));
-					out_uvs.push_back(glm::vec2(float(x) / cv_normals.cols, 1.0f - (float(y) / cv_normals.rows)));
+					vertices.push_back(glm::vec3(float(x - (cv_normals.cols / 2)) / cv_normals.rows, float(y - (cv_normals.rows / 2)) / cv_normals.rows, 0));
+					//vertices.push_back(glm::vec3(float(x - (cv_normals.cols / 2)) / cv_normals.rows, float(y - (cv_normals.rows / 2)) / cv_normals.rows, -cv_depth.at<float>(y, x) / (cv_normals.rows * 10)));
+					uvs.push_back(glm::vec2(float(x) / cv_normals.cols, 1.0f - (float(y) / cv_normals.rows)));
 					
 					if (y == cv_normals.rows) {
-						out_normals.push_back(glm::vec3(cv_normals.at<cv::Vec3f>(y-1, x)[1], -cv_normals.at<cv::Vec3f>(y-1, x)[0], cv_normals.at<cv::Vec3f>(y-1, x)[2]));
+						normals.push_back(glm::vec3(cv_normals.at<cv::Vec3f>(y-1, x)[1], -cv_normals.at<cv::Vec3f>(y-1, x)[0], cv_normals.at<cv::Vec3f>(y-1, x)[2]));
 					} else if (x == cv_normals.cols) {
-						out_normals.push_back(glm::vec3(cv_normals.at<cv::Vec3f>(y, x-1)[1], -cv_normals.at<cv::Vec3f>(y, x-1)[0], cv_normals.at<cv::Vec3f>(y, x-1)[2]));
+						normals.push_back(glm::vec3(cv_normals.at<cv::Vec3f>(y, x-1)[1], -cv_normals.at<cv::Vec3f>(y, x-1)[0], cv_normals.at<cv::Vec3f>(y, x-1)[2]));
 					} else if (y == cv_normals.rows && x == cv_normals.cols) {
-						out_normals.push_back(glm::vec3(cv_normals.at<cv::Vec3f>(y-1, x-1)[1], -cv_normals.at<cv::Vec3f>(y-1, x-1)[0], cv_normals.at<cv::Vec3f>(y-1, x-1)[2]));
+						normals.push_back(glm::vec3(cv_normals.at<cv::Vec3f>(y-1, x-1)[1], -cv_normals.at<cv::Vec3f>(y-1, x-1)[0], cv_normals.at<cv::Vec3f>(y-1, x-1)[2]));
 					} else {
-						out_normals.push_back(glm::vec3(cv_normals.at<cv::Vec3f>(y, x)[1], -cv_normals.at<cv::Vec3f>(y, x)[0], cv_normals.at<cv::Vec3f>(y, x)[2]));
-						//out_normals.push_back(glm::vec3(0, 0, 1));
+						normals.push_back(glm::vec3(cv_normals.at<cv::Vec3f>(y, x)[1], -cv_normals.at<cv::Vec3f>(y, x)[0], cv_normals.at<cv::Vec3f>(y, x)[2]));
+						//normals.push_back(glm::vec3(0, 0, 1));
 					}
 				}
 			}
 
-			std::cout << "Mesh created with " << cv_normals.cols * cv_normals.rows * 2 << " polygons.\n\n";
+			std::cout << "Mesh created with " << cv_normals.cols * cv_normals.rows * 2 << " polygons.\n";
 
-			std::cout << "Indexing vertices:\n\n";
+			std::cout << "Indexing vertices... ";
 
 			for (int y = 0; y < cv_normals.rows; y++) {
 				for (int x = 0; x < cv_normals.cols; x++) {
-					out_indices.push_back(int((y * cv_normals.cols) + x));
-					out_indices.push_back(int((y * cv_normals.cols) + x + 1));
-					out_indices.push_back(int(((y + 1) * cv_normals.cols) + x + 1));
+					indices.push_back(int((y * cv_normals.cols) + x));
+					indices.push_back(int((y * cv_normals.cols) + x + 1));
+					indices.push_back(int(((y + 1) * cv_normals.cols) + x + 1));
 
-					out_indices.push_back(int(((y + 1) * cv_normals.cols) + x + 1));
-					out_indices.push_back(int(((y + 1) * cv_normals.cols) + x));
-					out_indices.push_back(int((y * cv_normals.cols) + x));
+					indices.push_back(int(((y + 1) * cv_normals.cols) + x + 1));
+					indices.push_back(int(((y + 1) * cv_normals.cols) + x));
+					indices.push_back(int((y * cv_normals.cols) + x));
 				}
 			}
 
@@ -515,7 +501,7 @@ class OpenGL {
 			
 			//sum = (cv::sum(sumOfSquaredDifferences)[0] + cv::sum(sumOfSquaredDifferences)[1] + cv::sum(sumOfSquaredDifferences)[2])/(windowHeight-2 * windowWidth-2);
 			sum = (cv::sum(sumOfSquaredDifferences)[0] + cv::sum(sumOfSquaredDifferences)[1] + cv::sum(sumOfSquaredDifferences)[2]);
-			residuals = cv::Vec3d(cv::sum(sumOfSquaredDifferences)[0], cv::sum(sumOfSquaredDifferences)[1], cv::sum(sumOfSquaredDifferences)[2]);
+			//residuals = cv::Vec3d(cv::sum(sumOfSquaredDifferences)[0], cv::sum(sumOfSquaredDifferences)[1], cv::sum(sumOfSquaredDifferences)[2]);
 			
 			
 			/*
@@ -529,22 +515,21 @@ class OpenGL {
 			//std::cout << "Image " << imageNumber << ", average sum of squared differences: R = " << sum << ", specular intensity = " << SpecularIntensity << ", specular power = " << SpecularPower << std::endl;
 		}
 		
-		void computeResiduals(cv::Vec3d& residual, std::vector< cv::Vec3d >& residuals, double& totalResidual, cv::Mat& residualImage, bool calculateResidual, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, std::string modelPath, double& x, Problem& problem) {
+		void computeResiduals(cv::Vec3d& residual, std::vector< cv::Vec3d >& residuals, double& totalResidual, cv::Mat& residualImage, bool calculateResidual, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, double& SpecularIntensity, double& SpecularPower, std::vector<unsigned int> indices, std::string modelPath) {
 			do {
 				// Render the shadows
-				glm::mat4 depthModelMatrix = glm::mat4(1.0);
-				glm::mat4 depthMVP = depthProjectionMatrix * depthViewMatrix * depthModelMatrix;
+				depthModelMatrix = glm::mat4(1.0);
+				depthMVP = depthProjectionMatrix * depthViewMatrix * depthModelMatrix;
 				//renderShadows(FramebufferName, shadowResolution, depthProgramID, depthProjectionMatrix, depthViewMatrix, depthMatrixID, vertexbuffer, elementbuffer, indices, depthModelMatrix, depthMVP);
 
 				// Compute the MVP matrix from keyboard and mouse input
-				glm::mat4 ModelMatrix = glm::mat4(1.0);
-				glm::mat4 MVP, ViewMatrix, depthBiasMVP, ProjectionMatrix;
-				bool perspectiveProjection, shadowControl;
+				ModelMatrix = glm::mat4(1.0);
+				
 				//computeMatricesFromInputs(windowWidth, windowHeight, position, horizontalAngle, verticalAngle, FoV, mouseSpeed, ProjectionMatrix, ViewMatrix, lightInvDir, depthProjectionMatrix, depthViewMatrix, perspectiveProjection, shadowControl, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, calculateResidual);
-				computeMatricesFromLights(width, height, position, horizontalAngle, verticalAngle, FoV, ProjectionMatrix, ViewMatrix, lightInvDir, depthProjectionMatrix, depthViewMatrix, perspectiveProjection = false, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, calculateResidual);
+				computeMatricesFromLights();
 				MVP = ProjectionMatrix * ViewMatrix * ModelMatrix;
 
-				glm::mat4 biasMatrix(
+				biasMatrix = glm::mat4(
 					0.5, 0.0, 0.0, 0.0,
 					0.0, 0.5, 0.0, 0.0,
 					0.0, 0.0, 0.5, 0.0,
@@ -555,7 +540,7 @@ class OpenGL {
 				
 					
 				// Render the polygons
-				renderPolygons(width, height, programID, lightInvDir, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MVP, ModelMatrix, ViewMatrix, depthBiasMVP, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower);
+				renderPolygons(SpecularIntensity, SpecularPower);
 				
 				// Optionally render the shadowmap (for debug only)
 				//void renderShadowMap(GLuint quad_programID, GLuint depthTexture, GLuint texID, GLuint quad_vertexbuffer);
@@ -563,8 +548,9 @@ class OpenGL {
 				
 				
 				//totalResidual = returnResidual(lightNumber, height, width, textureImages, residualImage, residuals, SpecularIntensity, SpecularPower);
-				computeResidual(lightNumber, height, width, modelPath, textureImages, residualImage, residual, totalResidual, SpecularIntensity, SpecularPower);
-				residuals.push_back(residual);
+				
+				//computeResidual(SpecularIntensity, SpecularPower);
+				//residuals.push_back(residual);
 				
 				// Set up the only cost function (also known as residual). This uses auto-differentiation to obtain the derivative (jacobian).
 				// AutoDiffCostFunction<CostFunctor, (Dimensions of Residual), (Dimensions of Variables)>
@@ -584,8 +570,8 @@ class OpenGL {
 				problem.AddResidualBlock(cost_function, NULL, &x);
 				*/
 				lightNumber++;
-			} while (lightNumber < numberOfLights);
-			//} while (glfwGetKey(window, GLFW_KEY_ESCAPE) != GLFW_PRESS && glfwWindowShouldClose(window) == 0); // Check if the ESC key was pressed or the window was closed
+			//} while (lightNumber < numberOfLights);
+			} while (glfwGetKey(window, GLFW_KEY_ESCAPE) != GLFW_PRESS && glfwWindowShouldClose(window) == 0); // Check if the ESC key was pressed or the window was closed
 			
 			lightNumber = 0;
 		}
@@ -598,6 +584,12 @@ class OpenGL {
 		cv::Mat lightDirections;
 		int windowWidth;
 		int windowHeight;
+		int lightNumber;
+		int imageNumber;
+		std::vector<unsigned int> indices;
+		cv::Vec3d residual;
+		std::vector<cv::Vec3d> residuals;
+		const std::string modelPath;
 		
 		glm::mat4 depthProjectionMatrix;
 		glm::mat4 depthViewMatrix;
@@ -620,1019 +612,42 @@ class OpenGL {
 		GLuint uvbuffer;
 		GLuint normalbuffer;
 		GLuint elementbuffer;
-		std::vector<unsigned int> indices;
 		GLuint depthProgramID;
-		GLuint quad_programID;
+		//GLuint quad_programID;
 		GLuint FramebufferName;
 		GLuint quad_vertexbuffer;
 		GLuint VertexArrayID;
+		GLuint texID;
+		
+		glm::mat4 depthModelMatrix;
+		glm::mat4 depthMVP;
+		glm::mat4 ModelMatrix;
+		glm::mat4 MVP;
+		glm::mat4 ViewMatrix;
+		glm::mat4 depthBiasMVP;
+		glm::mat4 ProjectionMatrix;
+		glm::mat4 biasMatrix;
+		bool perspectiveProjection;
+		bool shadowControl;
+		//glm::mat4 biasMatrix;
+		
+		std::vector<glm::vec3> vertices;
+		std::vector<glm::vec2> uvs;
+		std::vector<glm::vec3> normals;
+		//std::vector<unsigned int> indices;
+		
+		double sum;
 		
 		GLuint SpecularIntensityID;
 		double SpecularIntensity;
 		GLuint SpecularPowerID;
 		double SpecularPower;
-}
-
-void initialiseOpenGL(cv::Mat cv_depth, cv::Mat cv_normals, cv::Mat cv_texture, std::vector< cv::Mat > textureImages, cv::Mat lightDirections, int& windowWidth, int& windowHeight, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, GLuint& programID, GLuint& MatrixID, GLuint& ModelMatrixID, GLuint& ViewMatrixID, GLuint& DepthBiasID, GLuint& lightInvDirID, GLuint& Texture, GLuint& TextureID, GLuint& depthTexture, GLuint& ShadowMapID, GLuint& vertexbuffer, GLuint& uvbuffer, GLuint& normalbuffer, GLuint& elementbuffer, std::vector<unsigned int> & indices, GLuint& depthProgramID, GLuint& quad_programID, GLuint& FramebufferName, GLuint& quad_vertexbuffer, GLuint& VertexArrayID, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower) {
-	// Initialise the GLFW library first
-	if (!glfwInit()) {
-		std::cerr << "Failed to initialise GLFW.\n";
-		getchar();
-		return;
-	}
-	std::cout << "Initialised GLFW.\n";
-
-	glfwWindowHint(GLFW_SAMPLES, 4); // 4x antialiasing
-	glfwWindowHint(GLFW_RESIZABLE, GL_FALSE);
-	glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3); // OpenGL 3.3
-	glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
-	glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE); // Only needed for macOS
-	glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE); // Disable old OpenGL
-
-	// Set the shadow resolution to 4096x4096
-	int shadowResolution = 4096;
-
-	// Open a window and create its OpenGL context
-	window = glfwCreateWindow(windowWidth, windowHeight, "Window", NULL, NULL);
-	if (window == NULL) {
-		std::cerr << "Failed to open GLFW window. Older Intel GPUs are not OpenGL 3.3 compatible.\n";
-		getchar();
-		glfwTerminate();
-		return;
-	}
-	glfwMakeContextCurrent(window);
-	std::cout << "Opened GLFW window.\n";
-
-	// On macOS with a retina screen it will be windowWidth*2 and windowHeight*2, so the actual framebuffer size is:
-	glfwGetFramebufferSize(window, &windowWidth, &windowHeight);
-
-	// Initialize GLEW
-	glewExperimental = true; // Needed for core profile
-	if (glewInit() != GLEW_OK) {
-		std::cerr << "Failed to initialise GLEW.\n";
-		getchar();
-		glfwTerminate();
-		return;
-	}
-	std::cout << "Initialised GLEW.\n";
-
-	// Ensure that the escape key being pressed can be captured
-	glfwSetInputMode(window, GLFW_STICKY_KEYS, GL_TRUE);
-	// Hide the mouse and enable unlimited mouvement
-	//glfwSetInputMode(window, GLFW_CURSOR, GLFW_CURSOR_DISABLED);
-
-	// Set the mouse at the center of the screen
-	glfwPollEvents();
-	//glfwSetCursorPos(window, windowWidth / 2, windowHeight / 2);
-
-	// Dark blue background
-	glClearColor(0.0f, 0.0f, 0.4f, 0.0f);
-
-	// Enable depth test, which stores fragments in the Z-buffer
-	glEnable(GL_DEPTH_TEST);
-
-	// Accept fragment if it is closer to the camera than the former one
-	glDepthFunc(GL_LESS);
-
-	// Cull triangles which do not have a normal facing towards the camera
-	glEnable(GL_CULL_FACE);
-
-	// Create a Vertex Array Object (VAO) and set it as the current one
-	//GLuint VertexArrayID;
-	glGenVertexArrays(1, &VertexArrayID);
-	glBindVertexArray(VertexArrayID);
-
-	// Create and compile the GLSL program from the shaders
-	depthProgramID = LoadShaders("/home/thomas/Documents/Minimisation/apps/specular_estimation/src/DepthRTT.vertexshader", "/home/thomas/Documents/Minimisation/apps/specular_estimation/src/DepthRTT.fragmentshader");
-
-	// Get a handle for the "MVP" uniform
-	GLuint depthMatrixID = glGetUniformLocation(depthProgramID, "depthMVP");
-
-	// Load the texture
-	//GLuint Texture = loadDDS("C:/Users/tdwal/Documents/repos/OpenGLTutorials/tutorial16_shadowmaps/uvmap.DDS");
-	Texture = loadMat(cv_texture);
-	std::cout << "Texture loaded.\n\n";
-
-	// Read the .obj file
-	std::vector<glm::vec3> vertices;
-	std::vector<glm::vec2> uvs;
-	std::vector<glm::vec3> normals;
-	//std::vector<unsigned int> indices;
-	//bool res = loadOBJ("C:/Users/tdwal/Documents/repos/OpenGLTutorials/tutorial16_shadowmaps/room_thickwalls.obj", vertices, uvs, normals);
-	createMesh(cv_depth, cv_normals, vertices, uvs, normals, indices);
-	std::cout << "\nModel created.\n\n";
-
-	// Load it into a VBO
-	//GLuint vertexbuffer; // This will identify the vertex buffer
-	glGenBuffers(1, &vertexbuffer); // Generate 1 buffer, and put the resulting identifier in vertexbuffer
-	glBindBuffer(GL_ARRAY_BUFFER, vertexbuffer); // The following commands will talk about our 'vertexbuffer' buffer
-	glBufferData(GL_ARRAY_BUFFER, vertices.size() * sizeof(glm::vec3), &vertices[0], GL_STATIC_DRAW); // Give the vertices to OpenGL
-
-	//GLuint uvbuffer;
-	glGenBuffers(1, &uvbuffer);
-	glBindBuffer(GL_ARRAY_BUFFER, uvbuffer);
-	glBufferData(GL_ARRAY_BUFFER, uvs.size() * sizeof(glm::vec2), &uvs[0], GL_STATIC_DRAW);
-
-	//GLuint normalbuffer;
-	glGenBuffers(1, &normalbuffer);
-	glBindBuffer(GL_ARRAY_BUFFER, normalbuffer);
-	glBufferData(GL_ARRAY_BUFFER, normals.size() * sizeof(glm::vec3), &normals[0], GL_STATIC_DRAW);
-
-	// Generate a buffer for the indices as well
-	//GLuint elementbuffer;
-	glGenBuffers(1, &elementbuffer);
-	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, elementbuffer);
-	glBufferData(GL_ELEMENT_ARRAY_BUFFER, indices.size() * sizeof(unsigned int), &indices[0], GL_STATIC_DRAW);
-
-
-	// ---------------------------------------------
-	// Render to Texture - specific code begins here
-	// ---------------------------------------------
-
-	// The framebuffer, which regroups 0, 1 or more textures, and 0 or 1 depth buffers
-	FramebufferName = 0;
-	glGenFramebuffers(1, &FramebufferName);
-	glBindFramebuffer(GL_FRAMEBUFFER, FramebufferName);
-
-	// Depth texture. Slower than a depth buffer, but can be sampled later in the shader
-	//GLuint depthTexture;
-	glGenTextures(1, &depthTexture);
-	glBindTexture(GL_TEXTURE_2D, depthTexture);
-	glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH_COMPONENT16, shadowResolution, shadowResolution, 0, GL_DEPTH_COMPONENT, GL_FLOAT, 0);
-	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
-	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
-	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
-	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_FUNC, GL_LEQUAL);
-	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_MODE, GL_COMPARE_R_TO_TEXTURE);
-
-	glFramebufferTexture(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, depthTexture, 0);
-
-	// No colour output in the bound framebuffer, only depth.
-	glDrawBuffer(GL_NONE);
-
-	// Always check if there are any errors in the framebuffer
-	if (glCheckFramebufferStatus(GL_FRAMEBUFFER) != GL_FRAMEBUFFER_COMPLETE)
-		return;
-
-	// The quad's FBO. Used only for visualising the shadowmap.
-	static const GLfloat g_quad_vertex_buffer_data[] = {
-		-1.0f, -1.0f, 0.0f,
-		 1.0f, -1.0f, 0.0f,
-		-1.0f,  1.0f, 0.0f,
-		-1.0f,  1.0f, 0.0f,
-		 1.0f, -1.0f, 0.0f,
-		 1.0f,  1.0f, 0.0f,
-	};
-
-	//GLuint quad_vertexbuffer;
-	glGenBuffers(1, &quad_vertexbuffer);
-	glBindBuffer(GL_ARRAY_BUFFER, quad_vertexbuffer);
-	glBufferData(GL_ARRAY_BUFFER, sizeof(g_quad_vertex_buffer_data), g_quad_vertex_buffer_data, GL_STATIC_DRAW);
-
-	// Create and compile the GLSL program from the shaders
-	quad_programID = LoadShaders("/home/thomas/Documents/Minimisation/apps/specular_estimation/src/Passthrough.vertexshader", "/home/thomas/Documents/Minimisation/apps/specular_estimation/src/SimpleTexture.fragmentshader");
-	std::cout << "Shaders loaded.\n";
-	GLuint texID = glGetUniformLocation(quad_programID, "texture");
-	std::cout << "Uniform Location of texture found.\n";
-
-	// Create and compile the GLSL program from the shaders
-	programID = LoadShaders("/home/thomas/Documents/Minimisation/apps/specular_estimation/src/ShadowMapping.vertexshader", "/home/thomas/Documents/Minimisation/apps/specular_estimation/src/ShadowMapping.fragmentshader");
-
-	// Get a handle for the "myTextureSampler" uniform
-	TextureID = glGetUniformLocation(programID, "myTextureSampler");
-	//SpecularID = glGetUniformLocation(programID, "mySpecularSampler");
-	
-	SpecularIntensityID = glGetUniformLocation(programID, "specularIntensity");
-	SpecularPowerID = glGetUniformLocation(programID, "specularPower");
-
-	// Get a handle for the "MVP" uniform
-	MatrixID = glGetUniformLocation(programID, "MVP");
-	ViewMatrixID = glGetUniformLocation(programID, "V");
-	ModelMatrixID = glGetUniformLocation(programID, "M");
-	DepthBiasID = glGetUniformLocation(programID, "DepthBiasMVP");
-	ShadowMapID = glGetUniformLocation(programID, "shadowMap");
-
-	// Get a handle for the "LightPosition" uniform
-	lightInvDirID = glGetUniformLocation(programID, "LightInvDirection_worldspace");
-
-	// Compute the MVP matrix from the light's point of view
-	lightInvDir = glm::vec3(0, 0, 1);
-	depthProjectionMatrix = glm::perspective<float>(45.0f, 1.0f, 1.0f, 100.0f);
-	depthViewMatrix = glm::lookAt(lightInvDir, glm::vec3(0, 0, 0), glm::vec3(0, 1, 0));
-
-	// Initial position: on +Z
-	position = glm::vec3(0, 0, 1);
-	// Initial horizontal angle: toward -Z
-	horizontalAngle = M_PI;
-	// Initial vertical angle: none
-	verticalAngle = 0.0f;
-	// Initial Field of View
-	FoV = 60.0f;
-	// Mouse Speed
-	float mouseSpeed = 0.005f;
-}
-
-void terminateOpenGL(GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, GLuint programID, GLuint depthProgramID, GLuint quad_programID, GLuint Texture, GLuint FramebufferName, GLuint depthTexture, GLuint quad_vertexbuffer, GLuint VertexArrayID) {
-	
-	// Cleanup VBO and shader
-	glDeleteBuffers(1, &vertexbuffer);
-	glDeleteBuffers(1, &uvbuffer);
-	glDeleteBuffers(1, &normalbuffer);
-	glDeleteBuffers(1, &elementbuffer);
-	glDeleteProgram(programID);
-	glDeleteProgram(depthProgramID);
-	glDeleteProgram(quad_programID);
-	glDeleteTextures(1, &Texture);
-
-	glDeleteFramebuffers(1, &FramebufferName);
-	glDeleteTextures(1, &depthTexture);
-	glDeleteBuffers(1, &quad_vertexbuffer);
-	glDeleteVertexArrays(1, &VertexArrayID);
-
-	// Close OpenGL window and terminate GLFW
-	glfwTerminate();
-}
-
-void renderShadows(GLuint FramebufferName, int shadowResolution, GLuint depthProgramID, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, GLuint depthMatrixID, GLuint vertexbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, glm::mat4 depthModelMatrix, glm::mat4 depthMVP) {
-	// Render to the framebuffer
-	glBindFramebuffer(GL_FRAMEBUFFER, FramebufferName);
-	glViewport(0, 0, shadowResolution, shadowResolution); // Render on the whole framebuffer, complete from the lower left corner to the upper right
-
-	// The shadows don't use bias in the shader, but instead are drawn from back faces, which are already separated from the front faces by a small distance (if the geometry is made this way)
-	glEnable(GL_CULL_FACE);
-	glCullFace(GL_BACK); // Cull back-facing triangles -> draw only front-facing triangles
-
-	// Clear the screen
-	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-
-	// Use the shader
-	glUseProgram(depthProgramID);
-
-	// Send the transformation to the currently bound shader, in the "MVP" uniform
-	glUniformMatrix4fv(depthMatrixID, 1, GL_FALSE, &depthMVP[0][0]);
-
-	// 1st attribute buffer: vertices
-	glEnableVertexAttribArray(0);
-	glBindBuffer(GL_ARRAY_BUFFER, vertexbuffer);
-	glVertexAttribPointer(
-		0,			// attribute 0. Must be 0 to match the layout in the shader.
-		3,			// size
-		GL_FLOAT,	// type
-		GL_FALSE,	// normalized?
-		0,			// stride
-		(void*)0	// array buffer offset
-	);
-
-	// Index buffer
-	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, elementbuffer);
-
-	// Draw the triangles
-	glDrawElements(
-		GL_TRIANGLES,				// mode
-		GLsizei(indices.size()),	// count
-		GL_UNSIGNED_INT,			// type
-		(void*)0					// element array buffer offset
-	);
-	glDisableVertexAttribArray(0);
-}
-
-// Render the shadowmap (for debug only)
-void renderShadowMap(GLuint quad_programID, GLuint depthTexture, GLuint texID, GLuint quad_vertexbuffer) {
-
-	// Render only on a corner of the window (or we we won't see the real rendering...)
-	glViewport(0, 0, 512, 512);
-
-	// Use our shader
-	glUseProgram(quad_programID);
-
-	// Bind our texture in Texture Unit 0
-	glActiveTexture(GL_TEXTURE0);
-	glBindTexture(GL_TEXTURE_2D, depthTexture);
-	// Set our "renderedTexture" sampler to use Texture Unit 0
-	glUniform1i(texID, 0);
-
-	// 1st attribute buffer: vertices
-	glEnableVertexAttribArray(0);
-	glBindBuffer(GL_ARRAY_BUFFER, quad_vertexbuffer);
-	glVertexAttribPointer(
-		0,			// attribute 0. No particular reason for 0, but must match the layout in the shader.
-		3,			// size
-		GL_FLOAT,	// type
-		GL_FALSE,	// normalized?
-		0,			// stride
-		(void*)0	// array buffer offset
-	);
-
-	// Draw the triangle
-	// GL_COMPARE_R_TO_TEXTURE must be disabled
-	//glDrawArrays(GL_TRIANGLES, 0, 6); // 2*3 indices starting at 0 -> 2 triangles
-	glDisableVertexAttribArray(0);
-}
-
-void renderPolygons(int windowWidth, int windowHeight, GLuint programID, glm::vec3 lightInvDir, GLuint MatrixID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, glm::mat4 MVP, glm::mat4 ModelMatrix, glm::mat4 ViewMatrix, glm::mat4 depthBiasMVP, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower) {
-
-	// Render to the screen
-	glBindFramebuffer(GL_FRAMEBUFFER, 0);
-	glViewport(0, 0, windowWidth, windowHeight); // Render on the whole framebuffer, complete from the lower left corner to the upper right
-
-	glEnable(GL_CULL_FACE);
-	glCullFace(GL_BACK); // Cull back-facing triangles -> draw only front-facing triangles
-
-	// Clear the screen
-	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-
-	// Use the shader
-	glUseProgram(programID);
-	
-	// Send the transformation to the currently bound shader, in the "MVP" uniform
-	glUniformMatrix4fv(MatrixID,      1, GL_FALSE, &MVP[0][0]);
-	glUniformMatrix4fv(ModelMatrixID, 1, GL_FALSE, &ModelMatrix[0][0]);
-	glUniformMatrix4fv(ViewMatrixID,  1, GL_FALSE, &ViewMatrix[0][0]);
-	glUniformMatrix4fv(DepthBiasID,   1, GL_FALSE, &depthBiasMVP[0][0]);
-	
-	glUniform1f(SpecularIntensityID, SpecularIntensity);
-	glUniform1f(SpecularPowerID,     SpecularPower);
-
-	glUniform3f(lightInvDirID, lightInvDir.x, lightInvDir.y, lightInvDir.z);
-
-	// Bind the texture in Texture Unit 0
-	glActiveTexture(GL_TEXTURE0);
-	glBindTexture(GL_TEXTURE_2D, Texture);
-	// Set the "myTextureSampler" sampler to use Texture Unit 0
-	glUniform1i(TextureID, 0);
-
-	glActiveTexture(GL_TEXTURE1);
-	glBindTexture(GL_TEXTURE_2D, depthTexture);
-	glUniform1i(ShadowMapID, 1);
-
-	// 1st attribute buffer: vertices
-	glEnableVertexAttribArray(0);
-	glBindBuffer(GL_ARRAY_BUFFER, vertexbuffer);
-	glVertexAttribPointer(
-		0,			// attribute
-		3,			// size
-		GL_FLOAT,	// type
-		GL_FALSE,	// normalized?
-		0,			// stride
-		(void*)0	// array buffer offset
-	);
-
-	// 2nd attribute buffer: UVs
-	glEnableVertexAttribArray(1);
-	glBindBuffer(GL_ARRAY_BUFFER, uvbuffer);
-	glVertexAttribPointer(
-		1,			// attribute
-		2,			// size
-		GL_FLOAT,	// type
-		GL_FALSE,	// normalized?
-		0,			// stride
-		(void*)0	// array buffer offset
-	);
-
-	// 3rd attribute buffer: normals
-	glEnableVertexAttribArray(2);
-	glBindBuffer(GL_ARRAY_BUFFER, normalbuffer);
-	glVertexAttribPointer(
-		2,			// attribute
-		3,			// size
-		GL_FLOAT,	// type
-		GL_FALSE,	// normalized?
-		0,			// stride
-		(void*)0	// array buffer offset
-	);
-
-	// Index buffer
-	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, elementbuffer);
-
-	// Draw the triangles
-	glDrawElements(
-		GL_TRIANGLES,				// mode
-		GLsizei(indices.size()),	// count
-		GL_UNSIGNED_INT,			// type
-		(void*)0					// element array buffer offset
-	);
-
-	glDisableVertexAttribArray(0);
-	glDisableVertexAttribArray(1);
-	glDisableVertexAttribArray(2);
-
-}
-
-/*void createSpecularMap(std::vector < cv::Mat > modelImages, cv::Mat lightDirections, cv::Mat& specularMap) {
-	// Initialise the specular map Mat with 127 in the blue channel (BGR)
-	cv::Mat specularMap(modelImages[0].rows, modelImages[0].cols, CV_8UC3, cv::Scalar(127, 0, 0));
-	cv::Mat aboveAndLeft(modelImages[0].rows, modelImages[0].cols, CV_8UC3, cv::Scalar::all(0));
-	cv::Mat belowAndRight(modelImages[0].rows, modelImages[0].cols, CV_8UC3, cv::Scalar::all(0));
-
-	/*cv::Mat upperLUT(1, 256, CV_8UC3, cv::Scalar::all(0));
-	for (int u = 128; u < 256; u++) {
-		upperLUT.at<uchar>[1](1, u) = (u - 128) * 2; // Green goes between 128 and 255
-		upperLUT.at<uchar>[2](1, u) = (u - 128) * 2; // Red goes between 128 and 255
-	}
-
-	cv::Mat lowerLUT(1, 256, CV_8UC3, cv::Scalar::all(0));
-	for (int u = 0; u < 128; u++) {
-		lowerLUT.at<uchar>[1](1, u) = (128 - u) * 2; // Green goes between 0 and 127
-		lowerLUT.at<uchar>[2](1, u) = (128 - u) * 2; // Red goes between 0 and 127
-	}*/
-
-	/*for (int i = 0; i < lightDirections.rows; i++) {
-		cv::Mat temp(modelImages[0].rows, modelImages[0].cols, CV_8UC3);
-		cv::Scalar lightDir(lightDirections.at<float>(i, 1), -lightDirections.at<float>(i, 0));
-
-		//aboveAndLeft = modelImages[i] * lightDir[0];
-		cv::Mat above = modelImages[i] * lightDir[1];
-		cv::Mat left = modelImages[i] * lightDir[0];
-		std::vector < cv::Mat > inputArrays;
-		inputArrays.push_back(specularMap);
-		inputArrays.push_back(left);
-		inputArrays.push_back(above);
-		cv::merge(inputArrays, aboveAndLeft);
-	}
-}*/
+};
 
-void computeResidual(int imageNumber, int windowHeight, int windowWidth, std::string modelPath, std::vector < cv::Mat > textureImages, cv::Mat& residual, cv::Vec3d& residuals, double& sum, double SpecularIntensity, double SpecularPower) {
-	
-	// Create an empty Mat the same size as the image
-	cv::Mat temp = cv::Mat(windowHeight, windowWidth, CV_8UC3);
-	cv::Mat sumOfSquaredDifferences = cv::Mat(windowHeight, windowWidth, CV_16UC3);
-	
-	// Read the image into the Mat as an 8-bit colour image
-	glReadPixels(0, 0, windowWidth, windowHeight, GL_BGR, GL_UNSIGNED_BYTE, temp.data);
-	
-	// 3D models have the origin in the bottom-left corner, while images have the origin in the top-left corner. The image is flipped to convert between the two.
-	cv::flip(temp, temp, 0);
-	
-	//temp = temp(cv::Rect(1, 1, windowWidth-2, windowHeight-2));
-	//copyMakeBorder(temp, temp, 1, 1, 1, 1, cv::BORDER_REPLICATE);
-	
-	// Calculate the absolute differences between the model and the photograph
-	cv::absdiff(temp, textureImages[imageNumber], residual);
-	
-	sumOfSquaredDifferences = residual;
-	
-	// Square each element
-	multiply(sumOfSquaredDifferences, sumOfSquaredDifferences, sumOfSquaredDifferences);
-	
-	std::ostringstream stm;
-	stm << imageNumber;
-	std::string number = stm.str();
-	
-	// Display the residual
-	//cv::namedWindow("Model", CV_WINDOW_NORMAL);
-	//cv::imshow("Model", temp);
-	//cv::namedWindow("Sum of Squared Differences", CV_WINDOW_NORMAL);
-	//cv::imshow("Sum of Squared Differences", sumOfSquaredDifferences);
-	cv::imwrite(modelPath + "model." + number + ".png", temp);
-	cv::imwrite(modelPath + "residual." + number + ".png", residual);
-	
-	// Crop a 1-pixel border around the residual
-	sumOfSquaredDifferences = sumOfSquaredDifferences(cv::Rect(1, 1, windowWidth-2, windowHeight-2));
-	
-	//sum = (cv::sum(sumOfSquaredDifferences)[0] + cv::sum(sumOfSquaredDifferences)[1] + cv::sum(sumOfSquaredDifferences)[2])/(windowHeight-2 * windowWidth-2);
-	sum = (cv::sum(sumOfSquaredDifferences)[0] + cv::sum(sumOfSquaredDifferences)[1] + cv::sum(sumOfSquaredDifferences)[2]);
-	residuals = cv::Vec3d(cv::sum(sumOfSquaredDifferences)[0], cv::sum(sumOfSquaredDifferences)[1], cv::sum(sumOfSquaredDifferences)[2]);
-	
-	
-	/*
-	// Use the matchTemplate function to calculate the sum of squared differences
-	matchTemplate(temp, textureImages[imageNumber], residual, 1);
-	
-	sum = cv::sum(residual)[0];
-	*/
-	
-	std::cout << "Image " << imageNumber << ", SSD per pixel: R = " << cv::sum(sumOfSquaredDifferences)[2]/(windowHeight * windowWidth) << ", G = " << cv::sum(sumOfSquaredDifferences)[1]/(windowHeight * windowWidth) << ", B = " << cv::sum(sumOfSquaredDifferences)[0]/(windowHeight * windowWidth) << ", specular intensity = " << SpecularIntensity << ", specular power = " << SpecularPower << std::endl;
-	//std::cout << "Image " << imageNumber << ", average sum of squared differences: R = " << sum << ", specular intensity = " << SpecularIntensity << ", specular power = " << SpecularPower << std::endl;
-}
 
-double returnResidual(int imageNumber, int windowHeight, int windowWidth, std::vector < cv::Mat > textureImages, cv::Mat& residual, cv::Vec3d& residuals, double SpecularIntensity, double SpecularPower) {
-		
-	// Create an empty Mat the same size as the image
-	cv::Mat temp = cv::Mat(windowHeight, windowWidth, CV_8UC3);
-	
-	// Read the image into the Mat as an 8-bit colour image
-	glReadPixels(0, 0, windowWidth, windowHeight, GL_BGR, GL_UNSIGNED_BYTE, temp.data);
-	
-	// 3D models have the origin in the bottom-left corner, while images have the origin in the top-left corner. The image is flipped to convert between the two.
-	cv::flip(temp, temp, 0);
-	
-	
-	
-	// Calculate the absolute differences between the model and the photograph
-	cv::absdiff(temp, textureImages[imageNumber], residual);
-	
-	// Square each element
-	multiply(residual, residual, temp);
-	
-	// Display the residual
-	//cv::imshow("Original", temp);
-	//cv::imshow("Residual", residual);
-	
-	// 
-	double sum = (cv::sum(temp)[0] + cv::sum(temp)[1] + cv::sum(temp)[2])/(windowHeight * windowWidth);
-	residuals = cv::Vec3d(cv::sum(temp)[0], cv::sum(temp)[1], cv::sum(temp)[2]);
-	
-	
-	/*
-	// Use the matchTemplate function to calculate the sum of squared differences
-	matchTemplate(temp, textureImages[imageNumber], residual, 1);
-	
-	sum = cv::sum(residual)[0];
-	*/
-	
-	std::cout << "Average sum of squared differences for image " << imageNumber << " = " << sum << ", specular intensity = " << SpecularIntensity << ", specular power = " << SpecularPower << std::endl << std::endl;
-	
-	return sum;
-}
-
-void computeResiduals(cv::Vec3d& residual, std::vector< cv::Vec3d >& residuals, double& totalResidual, cv::Mat& residualImage, bool calculateResidual, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, std::string modelPath, double& x, Problem& problem) {
-	do {
-		// Render the shadows
-		glm::mat4 depthModelMatrix = glm::mat4(1.0);
-		glm::mat4 depthMVP = depthProjectionMatrix * depthViewMatrix * depthModelMatrix;
-		//renderShadows(FramebufferName, shadowResolution, depthProgramID, depthProjectionMatrix, depthViewMatrix, depthMatrixID, vertexbuffer, elementbuffer, indices, depthModelMatrix, depthMVP);
-
-		// Compute the MVP matrix from keyboard and mouse input
-		glm::mat4 ModelMatrix = glm::mat4(1.0);
-		glm::mat4 MVP, ViewMatrix, depthBiasMVP, ProjectionMatrix;
-		bool perspectiveProjection, shadowControl;
-		//computeMatricesFromInputs(windowWidth, windowHeight, position, horizontalAngle, verticalAngle, FoV, mouseSpeed, ProjectionMatrix, ViewMatrix, lightInvDir, depthProjectionMatrix, depthViewMatrix, perspectiveProjection, shadowControl, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, calculateResidual);
-		computeMatricesFromLights(width, height, position, horizontalAngle, verticalAngle, FoV, ProjectionMatrix, ViewMatrix, lightInvDir, depthProjectionMatrix, depthViewMatrix, perspectiveProjection = false, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, calculateResidual);
-		MVP = ProjectionMatrix * ViewMatrix * ModelMatrix;
-
-		glm::mat4 biasMatrix(
-			0.5, 0.0, 0.0, 0.0,
-			0.0, 0.5, 0.0, 0.0,
-			0.0, 0.0, 0.5, 0.0,
-			0.5, 0.5, 0.5, 1.0
-		);
-
-		depthBiasMVP = biasMatrix * depthMVP;
-		
-			
-		// Render the polygons
-		renderPolygons(width, height, programID, lightInvDir, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MVP, ModelMatrix, ViewMatrix, depthBiasMVP, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower);
-		
-		// Optionally render the shadowmap (for debug only)
-		//void renderShadowMap(GLuint quad_programID, GLuint depthTexture, GLuint texID, GLuint quad_vertexbuffer);
-		
-		
-		
-		//totalResidual = returnResidual(lightNumber, height, width, textureImages, residualImage, residuals, SpecularIntensity, SpecularPower);
-		computeResidual(lightNumber, height, width, modelPath, textureImages, residualImage, residual, totalResidual, SpecularIntensity, SpecularPower);
-		residuals.push_back(residual);
-		
-		// Set up the only cost function (also known as residual). This uses auto-differentiation to obtain the derivative (jacobian).
-		// AutoDiffCostFunction<CostFunctor, (Dimensions of Residual), (Dimensions of Variables)>
-		//CostFunction* cost_function = new AutoDiffCostFunction<CostFunctor, 1, 2>(new CostFunctor);
-		//problem.AddResidualBlock(cost_function, NULL, &SpecularIntensity, &SpecularPower);
-		
-		// Swap buffers
-		glfwSwapBuffers(window);
-		glfwPollEvents();
-		
-		
-		
-		//TODO: Save model image and residual
-		
-		
-		/*CostFunction* cost_function = new AutoDiffCostFunction<CostFunctor, 1, 1>(new CostFunctor);
-		problem.AddResidualBlock(cost_function, NULL, &x);
-		*/
-		lightNumber++;
-	} while (lightNumber < numberOfLights);
-	//} while (glfwGetKey(window, GLFW_KEY_ESCAPE) != GLFW_PRESS && glfwWindowShouldClose(window) == 0); // Check if the ESC key was pressed or the window was closed
-	
-	lightNumber = 0;
-}
-
-void viewModel(cv::Vec3d& residual, std::vector< cv::Vec3d >& residuals, double& totalResidual, cv::Mat& residualImage, bool calculateResidual, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, std::string modelPath) {
-	do {
-		// Render the shadows
-		glm::mat4 depthModelMatrix = glm::mat4(1.0);
-		glm::mat4 depthMVP = depthProjectionMatrix * depthViewMatrix * depthModelMatrix;
-		//renderShadows(FramebufferName, shadowResolution, depthProgramID, depthProjectionMatrix, depthViewMatrix, depthMatrixID, vertexbuffer, elementbuffer, indices, depthModelMatrix, depthMVP);
-
-		// Compute the MVP matrix from keyboard and mouse input
-		glm::mat4 ModelMatrix = glm::mat4(1.0);
-		glm::mat4 MVP, ViewMatrix, depthBiasMVP, ProjectionMatrix;
-		bool perspectiveProjection, shadowControl;
-		calculateResidual = false;
-		//computeMatricesFromInputs(windowWidth, windowHeight, position, horizontalAngle, verticalAngle, FoV, mouseSpeed, ProjectionMatrix, ViewMatrix, lightInvDir, depthProjectionMatrix, depthViewMatrix, perspectiveProjection, shadowControl, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, calculateResidual);
-		computeMatricesFromLights(width, height, position, horizontalAngle, verticalAngle, FoV, ProjectionMatrix, ViewMatrix, lightInvDir, depthProjectionMatrix, depthViewMatrix, perspectiveProjection = false, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, calculateResidual);
-		MVP = ProjectionMatrix * ViewMatrix * ModelMatrix;
-
-		glm::mat4 biasMatrix(
-			0.5, 0.0, 0.0, 0.0,
-			0.0, 0.5, 0.0, 0.0,
-			0.0, 0.0, 0.5, 0.0,
-			0.5, 0.5, 0.5, 1.0
-		);
-
-		depthBiasMVP = biasMatrix * depthMVP;
-		
-			
-		// Render the polygons
-		renderPolygons(width, height, programID, lightInvDir, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MVP, ModelMatrix, ViewMatrix, depthBiasMVP, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower);
-		
-		// Optionally render the shadowmap (for debug only)
-		//void renderShadowMap(GLuint quad_programID, GLuint depthTexture, GLuint texID, GLuint quad_vertexbuffer);
-				
-		if (calculateResidual) {
-			//computeResidual(lightNumber, height, width, modelPath, textureImages, residualImage, residual, totalResidual, SpecularIntensity, SpecularPower);
-			double x = SpecularIntensity;
-			ceres::Problem problem;
-			computeResiduals(residual, residuals, totalResidual, residualImage, calculateResidual, depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath, x, problem);
-			std::cout << "Average residual = " << totalResidual << ", specular intensity = " << SpecularIntensity << ", specular power = " << SpecularPower << std::endl;
-		}
-		
-		
-		/*
-		// TODO: Check if the viewpoint has been changed
-		if (calculateResidual) {
-			// Compute the residual image and sum of differences
-			cv::Mat residualImage;
-			computeResidual(lightNumber, height, width, textureImages, residualImage, residuals, residual, SpecularIntensity, SpecularPower);
-			
-			specularMinimisation(SpecularIntensity, SpecularPower, residual);
-			calculateResidual = false;
-		}
-		*/
-		
-		//totalResidual = returnResidual(lightNumber, height, width, textureImages, residualImage, residuals, SpecularIntensity, SpecularPower);
-		//computeResidual(lightNumber, height, width, textureImages, residualImage, residual, totalResidual, SpecularIntensity, SpecularPower);
-		//residuals.push_back(residual);
-		
-		// Set up the only cost function (also known as residual). This uses auto-differentiation to obtain the derivative (jacobian).
-		// AutoDiffCostFunction<CostFunctor, (Dimensions of Residual), (Dimensions of Variables)>
-		//CostFunction* cost_function = new AutoDiffCostFunction<CostFunctor, 1, 2>(new CostFunctor);
-		//problem.AddResidualBlock(cost_function, NULL, &SpecularIntensity, &SpecularPower);
-		
-		// Swap buffers
-		glfwSwapBuffers(window);
-		glfwPollEvents();
-	} while (glfwGetKey(window, GLFW_KEY_ESCAPE) != GLFW_PRESS && glfwWindowShouldClose(window) == 0); // Check if the ESC key was pressed or the window was closed
-}
-
-void computeMatricesFromLights(int windowWidth, int windowHeight, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::mat4& ProjectionMatrix, glm::mat4& ViewMatrix, glm::vec3& lightInvDir, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, bool& perspectiveProjection, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, bool& calculateResidual) {
-	
-	//calculateResidual = false;
-	
-	// Direction: Convert Spherical coordinates to Cartesian coordinates
-	glm::vec3 direction(
-		cos(verticalAngle) * sin(horizontalAngle),
-		sin(verticalAngle),
-		cos(verticalAngle) * cos(horizontalAngle)
-	);
-
-	// Right vector
-	glm::vec3 right = glm::vec3(
-		sin(horizontalAngle - M_PI / 2.0f),
-		0,
-		cos(horizontalAngle - M_PI / 2.0f)
-	);
-
-	// Up vector
-	glm::vec3 up = glm::cross(right, direction);
-	
-	float modifier = 1.0f;
-	
-	// Control modifiers
-	if (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT) == GLFW_PRESS) {
-		modifier = 0.1f;
-	} else if (glfwGetKey(window, GLFW_KEY_LEFT_CONTROL) == GLFW_PRESS) {
-		modifier = 0.01f;
-	}
-	
-	lightInvDir = glm::vec3(lightDirections.at<float>(lightNumber, 1), -lightDirections.at<float>(lightNumber, 0), lightDirections.at<float>(lightNumber, 2));
-	
-	// Change light direction
-	if (glfwGetKey(window, GLFW_KEY_1) == GLFW_PRESS) {
-		if (glfwGetKey(window, GLFW_KEY_1) == GLFW_RELEASE) {
-			if (lightNumber > 0) {
-				lightNumber--;
-			}
-			else {
-				lightNumber = numberOfLights - 1;
-			}
-			lightInvDir = glm::vec3(lightDirections.at<float>(lightNumber, 1), -lightDirections.at<float>(lightNumber, 0), lightDirections.at<float>(lightNumber, 2));
-			calculateResidual = true;
-		}
-	}
-	else if (glfwGetKey(window, GLFW_KEY_2) == GLFW_PRESS) {
-		if (glfwGetKey(window, GLFW_KEY_2) == GLFW_RELEASE) {
-			if (lightNumber < numberOfLights - 1) {
-				lightNumber++;
-			}
-			else {
-				lightNumber = 0;
-			}
-			lightInvDir = glm::vec3(lightDirections.at<float>(lightNumber, 1), -lightDirections.at<float>(lightNumber, 0), lightDirections.at<float>(lightNumber, 2));
-			calculateResidual = true;
-		}
-	}
-	
-	// Modify specular power
-	if (glfwGetKey(window, GLFW_KEY_7) == GLFW_PRESS) {
-		//if (glfwGetKey(window, GLFW_KEY_7) == GLFW_RELEASE) {
-			if (SpecularPower > 0.1*modifier) {
-				SpecularPower -= 0.1*modifier;
-				calculateResidual = true;
-			}
-		//}
-	}
-	else if (glfwGetKey(window, GLFW_KEY_8) == GLFW_PRESS) {
-		//if (glfwGetKey(window, GLFW_KEY_8) == GLFW_RELEASE) {
-			SpecularPower += 0.1*modifier;
-			calculateResidual = true;
-		//}
-	}
-	
-	// Modify specular intensity
-	if (glfwGetKey(window, GLFW_KEY_9) == GLFW_PRESS) {
-		//if (glfwGetKey(window, GLFW_KEY_9) == GLFW_RELEASE) {
-		if (SpecularIntensity > 0.1*modifier) {
-			SpecularIntensity -= 0.1*modifier;
-			calculateResidual = true;
-		}
-		//}
-	}
-	else if (glfwGetKey(window, GLFW_KEY_0) == GLFW_PRESS) {
-		//if (glfwGetKey(window, GLFW_KEY_0) == GLFW_RELEASE) {
-			SpecularIntensity += 0.1*modifier;
-			calculateResidual = true;
-		//}
-	}
-
-	float aspectRatio = float(windowWidth) / float(windowHeight);
-
-	if (glfwGetKey(window, GLFW_KEY_P) == GLFW_PRESS) {
-		perspectiveProjection = true;
-		calculateResidual = true;
-	}
-	else if (glfwGetKey(window, GLFW_KEY_O) == GLFW_PRESS) {
-		perspectiveProjection = false;
-		calculateResidual = true;
-	}
-
-	if (perspectiveProjection) // Projection matrix: 60° Field of View, 16:9 aspect ratio, display range: 0.1 units <-> 100 units
-		ProjectionMatrix = glm::perspective(glm::radians(FoV), aspectRatio, 0.1f, 100.0f);
-	else
-		ProjectionMatrix = glm::ortho(-0.5f * aspectRatio, 0.5f * aspectRatio, -0.5f, 0.5f, 0.0f, 10.0f); // In world coordinates
-
-	// Camera matrix
-	ViewMatrix = glm::lookAt(
-		position,				// Camera is here
-		position + direction,	// and looks here: at the same position, plus "direction"
-		up						// Head is up (set to 0, -1, 0 to look upside-down)
-	);
-
-
-	/*if (shadowControl == true) {
-		lightInvDir = position;
-		//depthViewMatrix = glm::lookAt(lightInvDir, glm::vec3(0, 0, 0), glm::vec3(0, 1, 0));
-		depthViewMatrix = ViewMatrix;
-
-		//depthProjectionMatrix = ProjectionMatrix;
-		if (perspectiveProjection) // Projection matrix: 60° Field of View, 1:1 aspect ratio, display range: 0.1 units <-> 100 units
-			depthProjectionMatrix = glm::perspective(glm::radians(FoV), aspectRatio, 0.1f, 100.0f);
-		else
-			depthProjectionMatrix = glm::ortho(-0.5f * aspectRatio, 0.5f * aspectRatio, -0.5f, 0.5f, 0.0f, 10.0f); // In world coordinates
-	}*/
-}
-
-void computeMatricesFromInputs(int windowWidth, int windowHeight, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, float mouseSpeed, glm::mat4& ProjectionMatrix, glm::mat4& ViewMatrix, glm::vec3& lightInvDir, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, bool& perspectiveProjection, bool& shadowControl, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, bool& calculateResidual) {
-
-	calculateResidual = false;
-
-	// Set the base movement speed
-	float speed = 1.0f; // 1 unit per second
-
-	// glfwGetTime is called only once, the first time this function is called
-	static double lastTime = glfwGetTime();
-
-	// Compute time difference between current and last frame
-	double currentTime = glfwGetTime();
-	float deltaTime = float(currentTime - lastTime);
-
-	// Get the mouse position
-	double xpos, ypos;
-	glfwGetCursorPos(window, &xpos, &ypos);
-
-	// Reset the mouse position to the centre of the window for the next frame
-	glfwSetCursorPos(window, windowWidth / 2, windowHeight / 2);
-
-	// Compute new orientation
-	horizontalAngle += mouseSpeed * float(windowWidth / 2 - xpos);
-	verticalAngle += mouseSpeed * float(windowHeight / 2 - ypos);
-
-	// Direction: Convert Spherical coordinates to Cartesian coordinates
-	glm::vec3 direction(
-		cos(verticalAngle) * sin(horizontalAngle),
-		sin(verticalAngle),
-		cos(verticalAngle) * cos(horizontalAngle)
-	);
-
-	// Right vector
-	glm::vec3 right = glm::vec3(
-		sin(horizontalAngle - M_PI / 2.0f),
-		0,
-		cos(horizontalAngle - M_PI / 2.0f)
-	);
-
-	// Up vector
-	glm::vec3 up = glm::cross(right, direction);
-
-
-	// Speed up movement
-	if (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT) == GLFW_PRESS) {
-		speed *= 2.5;
-	}
-
-	if (glfwGetKey(window, GLFW_KEY_W) == GLFW_PRESS) {			// Move forward
-		position += direction * deltaTime * speed;
-	}
-	else if (glfwGetKey(window, GLFW_KEY_S) == GLFW_PRESS) {	// Move backward
-		position -= direction * deltaTime * speed;
-	}
-
-	if (glfwGetKey(window, GLFW_KEY_D) == GLFW_PRESS) {			// Strafe right
-		position += right * deltaTime * speed;
-	}
-	else if (glfwGetKey(window, GLFW_KEY_A) == GLFW_PRESS) {	// Strafe left
-		position -= right * deltaTime * speed;
-	}
-
-	if (glfwGetKey(window, GLFW_KEY_SPACE) == GLFW_PRESS) {		// Move upward
-		position += glm::vec3(0, 1, 0) * deltaTime * speed;
-	}
-	else if (glfwGetKey(window, GLFW_KEY_LEFT_CONTROL) == GLFW_PRESS) { // Move downward
-		position -= glm::vec3(0, 1, 0) * deltaTime * speed;
-	}
-
-	// Change the FoV
-	if (glfwGetKey(window, GLFW_KEY_Z) == GLFW_PRESS) {
-		FoV -= 1;
-	} else if (glfwGetKey(window, GLFW_KEY_X) == GLFW_PRESS) {
-		FoV += 1;
-	} else if (glfwGetKey(window, GLFW_KEY_C) == GLFW_PRESS) {
-		FoV = 60.0f;
-	}
-	
-	float aspectRatio = float(windowWidth) / float(windowHeight);
-
-	if (glfwGetKey(window, GLFW_KEY_P) == GLFW_PRESS) {
-		perspectiveProjection = true;
-	} else if (glfwGetKey(window, GLFW_KEY_O) == GLFW_PRESS) {
-		perspectiveProjection = false;
-	}
-
-	if (perspectiveProjection) // Projection matrix: 60° Field of View, 16:9 aspect ratio, display range: 0.1 units <-> 100 units
-		ProjectionMatrix = glm::perspective(glm::radians(FoV), aspectRatio, 0.1f, 100.0f);
-	else
-		ProjectionMatrix = glm::ortho(-0.5f * aspectRatio, 0.5f * aspectRatio, -0.5f, 0.5f, 0.0f, 10.0f); // In world coordinates
-
-	// Camera matrix
-	ViewMatrix = glm::lookAt(
-		position,				// Camera is here
-		position + direction,	// and looks here: at the same position, plus "direction"
-		up						// Head is up (set to 0, -1, 0 to look upside-down)
-	);
-
-	if (glfwGetKey(window, GLFW_KEY_1) == GLFW_PRESS) {
-		shadowControl = true;
-	}
-	else if (glfwGetKey(window, GLFW_KEY_2) == GLFW_PRESS) {
-		shadowControl = false;
-	}
-
-	if (shadowControl == true) {
-		lightInvDir = position;
-		//depthViewMatrix = glm::lookAt(lightInvDir, glm::vec3(0, 0, 0), glm::vec3(0, 1, 0));
-		depthViewMatrix = ViewMatrix;
-
-		//depthProjectionMatrix = ProjectionMatrix;
-		if (perspectiveProjection) // Projection matrix: 60° Field of View, 1:1 aspect ratio, display range: 0.1 units <-> 100 units
-			depthProjectionMatrix = glm::perspective(glm::radians(FoV), aspectRatio, 0.1f, 100.0f);
-		else
-			depthProjectionMatrix = glm::ortho(-0.5f * aspectRatio, 0.5f * aspectRatio, -0.5f, 0.5f, 0.0f, 10.0f); // In world coordinates
-	}
-
-	// For the next frame, the "last time" will be "now"
-	lastTime = currentTime;
-}
-
-void createMesh(cv::Mat cv_depth, cv::Mat cv_normals, std::vector<glm::vec3> & out_vertices, std::vector<glm::vec2> & out_uvs, std::vector<glm::vec3> & out_normals, std::vector<unsigned int> & out_indices) {
-	
-	std::cout << "Width: " << cv_normals.cols << ", Height: " << cv_normals.rows << std::endl;
-	std::cout << "Creating mesh from depth map and normals:\n\n";
-
-	flip(cv_normals, cv_normals, 0);
-	flip(cv_depth, cv_depth, 0);
-
-	int percentage = 0;
-
-	for (int y = 0; y <= cv_normals.rows; y++) {
-		for (int x = 0; x <= cv_normals.cols; x++) {
-			out_vertices.push_back(glm::vec3(float(x - (cv_normals.cols / 2)) / cv_normals.rows, float(y - (cv_normals.rows / 2)) / cv_normals.rows, 0));
-			//out_vertices.push_back(glm::vec3(float(x - (cv_normals.cols / 2)) / cv_normals.rows, float(y - (cv_normals.rows / 2)) / cv_normals.rows, -cv_depth.at<float>(y, x) / (cv_normals.rows * 10)));
-			out_uvs.push_back(glm::vec2(float(x) / cv_normals.cols, 1.0f - (float(y) / cv_normals.rows)));
-			/*
-			if (y == cv_normals.rows)
-				y--;
-			if (x == cv_normals.cols)
-				x--;
-			
-			out_normals.push_back(glm::vec3(cv_normals.at<cv::Vec3f>(y, x)[1], -cv_normals.at<cv::Vec3f>(y, x)[0], cv_normals.at<cv::Vec3f>(y, x)[2]));
-			*/
-			
-			if (y == cv_normals.rows) {
-				out_normals.push_back(glm::vec3(cv_normals.at<cv::Vec3f>(y-1, x)[1], -cv_normals.at<cv::Vec3f>(y-1, x)[0], cv_normals.at<cv::Vec3f>(y-1, x)[2]));
-			} else if (x == cv_normals.cols) {
-				out_normals.push_back(glm::vec3(cv_normals.at<cv::Vec3f>(y, x-1)[1], -cv_normals.at<cv::Vec3f>(y, x-1)[0], cv_normals.at<cv::Vec3f>(y, x-1)[2]));
-			} else if (y == cv_normals.rows && x == cv_normals.cols) {
-				out_normals.push_back(glm::vec3(cv_normals.at<cv::Vec3f>(y-1, x-1)[1], -cv_normals.at<cv::Vec3f>(y-1, x-1)[0], cv_normals.at<cv::Vec3f>(y-1, x-1)[2]));
-			} else {
-				out_normals.push_back(glm::vec3(cv_normals.at<cv::Vec3f>(y, x)[1], -cv_normals.at<cv::Vec3f>(y, x)[0], cv_normals.at<cv::Vec3f>(y, x)[2]));
-				//out_normals.push_back(glm::vec3(0, 0, 1));
-			}
-			
-			
-		}
-		/*
-		if (((y * 100) / cv_normals.rows) > percentage) {
-			percentage++;
-			std::cout << percentage << "%\n";
-		}
-		*/
-	}
-
-	std::cout << "Mesh created with " << cv_normals.cols * cv_normals.rows * 2 << " polygons.\n\n";
-
-	std::cout << "Indexing vertices:\n\n";
-
-	percentage = 0;
-
-	for (int y = 0; y < cv_normals.rows; y++) {
-		for (int x = 0; x < cv_normals.cols; x++) {
-			out_indices.push_back(int((y * cv_normals.cols) + x));
-			out_indices.push_back(int((y * cv_normals.cols) + x + 1));
-			out_indices.push_back(int(((y + 1) * cv_normals.cols) + x + 1));
-
-			out_indices.push_back(int(((y + 1) * cv_normals.cols) + x + 1));
-			out_indices.push_back(int(((y + 1) * cv_normals.cols) + x));
-			out_indices.push_back(int((y * cv_normals.cols) + x));
-		}
-		/*
-		if (((y * 100) / (cv_normals.rows - 1)) > percentage) {
-			percentage++;
-			std::cout << percentage << "%\n";
-		}
-		*/
-	}
-
-	std::cout << "Vertices indexed.\n\n";
-}
-
-GLuint loadMat(cv::Mat cv_texture) {
-
-	// Actual RGB data
-	unsigned char * data = cv_texture.data;
-	unsigned int width  = cv_texture.cols;
-	unsigned int height = cv_texture.rows;
-
-	// Create one OpenGL texture
-	GLuint textureID;
-	glGenTextures(1, &textureID);
-
-	// "Bind" the newly created texture: all future texture functions will modify this texture
-	glBindTexture(GL_TEXTURE_2D, textureID);
-
-	// Give the image to OpenGL
-	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_BGR, GL_UNSIGNED_BYTE, data);
-
-	// OpenGL has now copied the data. Free this version
-	//delete[] data;
-
-	// Nearest neighbour filtering
-	//glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
-	//glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); 
-
-	// Trilinear filtering
-	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
-	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
-	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
-	// This requires mipmaps. Generate them automatically.
-	glGenerateMipmap(GL_TEXTURE_2D);
-
-	// Return the ID of the texture we just created
-	return textureID;
-}
 
 // From https://codeyarns.com/2015/06/16/how-to-rotate-point-in-opencv/ 
-cv::Mat rotatePoints(cv::Mat point, cv::Vec3d rvec) {
+/*cv::Mat rotatePoints(cv::Mat point, cv::Vec3d rvec) {
 	cv::Mat rotatedPoints, pointsTransposed;
 
 	cv::Mat rx = (cv::Mat_<float>(3, 3) << 1, 0, 0, 0, cos(rvec[0]), -sin(rvec[0]), 0, sin(rvec[0]), cos(rvec[0]));
@@ -1646,7 +661,7 @@ cv::Mat rotatePoints(cv::Mat point, cv::Vec3d rvec) {
 	cv::transpose(rotatedPoints, point);
 
 	return point;
-}
+}*/
 
 // From https://codeyarns.com/2015/06/16/how-to-rotate-point-in-opencv/
 /*cv::Point3f rotatePoint(const cv::Point3f& cen_pt, const cv::Point3f& p, float rad)
diff --git a/apps/specular_estimation/src/ShadowMapping.fragmentshader b/apps/specular_estimation/src/ShadowMapping.fragmentshader
index b8bd5478963d7d0fa30974a83a81ca6f8ee9f9ac..d63f26fe6251040a4343027955b2721bdc7f6b71 100644
--- a/apps/specular_estimation/src/ShadowMapping.fragmentshader
+++ b/apps/specular_estimation/src/ShadowMapping.fragmentshader
@@ -13,7 +13,7 @@ layout(location = 0) out vec3 color;
 
 // Values that stay constant for the whole mesh.
 uniform sampler2D myTextureSampler;
-uniform sampler2D mySpecularSampler;
+//uniform sampler2D mySpecularSampler;
 uniform mat4 MV;
 uniform sampler2DShadow shadowMap;
 //uniform vec3 LightPosition_worldspace;
@@ -40,13 +40,13 @@ vec2 poissonDisk[16] = vec2[](
 );
 
 // Returns a random number based on a vec3 and an int.
-float random(vec3 seed, int i){
+float random(vec3 seed, int i) {
 	vec4 seed4 = vec4(seed, i);
 	float dot_product = dot(seed4, vec4(12.9898,78.233,45.164,94.673));
 	return fract(sin(dot_product) * 43758.5453);
 }
 
-void main(){
+void main() {
 
 	// Light emission properties
 	vec3 LightColor = vec3(1, 1, 1);
@@ -56,11 +56,11 @@ void main(){
 	float LightPower = 1.0f;
 	
 	// Material properties
-	float ambientPower  = 0.0f;
+	float ambientPower = 0.0f;
 	//specularPower = 5.0f;
 	//specularIntensity = 0.5f;
 	vec3 MaterialDiffuseColor  = texture( myTextureSampler, UV ).rgb;
-	vec3 MaterialAmbientColor  = vec3(ambientPower,  ambientPower,  ambientPower) * MaterialDiffuseColor;
+	vec3 MaterialAmbientColor  = vec3(ambientPower, ambientPower, ambientPower) * MaterialDiffuseColor;
 	
 	vec3 MaterialSpecularColor = vec3(specularIntensity, specularIntensity, specularIntensity);
 	//vec3 MaterialSpecularColor = texture( myTextureSampler, UV ).rgb;
@@ -88,7 +88,7 @@ void main(){
 	//  - Looking elsewhere -> <1
 	float cosAlpha = clamp( dot( E, R ), 0, 1 );
 	
-	float visibility = 1.0;
+	float visibility = 1.0f;
 
 	// Fixed bias
 	//float bias = 0.005;
@@ -101,7 +101,7 @@ void main(){
 	float darkness = 1.0 - ambientPower;
 
 	// Sample the shadow map 16 times
-	for (int i = 0; i < samples; i++){
+	for (int i = 0; i < samples; i++) {
 		// use either :
 		//  - Always the same samples. Gives a fixed pattern in the shadow, but no noise
 		// int index = i;
diff --git a/apps/specular_estimation/src/ShadowMapping.vertexshader b/apps/specular_estimation/src/ShadowMapping.vertexshader
index 8bfb4980cd89a4ba26fcec69c51bb1296913b052..3627230592ba9a3baf05927d4a05ab7d249639d9 100644
--- a/apps/specular_estimation/src/ShadowMapping.vertexshader
+++ b/apps/specular_estimation/src/ShadowMapping.vertexshader
@@ -25,7 +25,7 @@ void main() {
 
 	// Output position of the vertex, in clip space: MVP * position
 	// gl_Position is the position of the vertex as seen from the current camera
-	gl_Position =  MVP * vec4(vertexPosition_modelspace, 1);
+	gl_Position = MVP * vec4(vertexPosition_modelspace, 1);
 	
 	// ShadowCoord is the position of the vertex as seen from the last camera (the light)
 	ShadowCoord = DepthBiasMVP * vec4(vertexPosition_modelspace, 1);
diff --git a/apps/specular_estimation/src/SimpleTexture.fragmentshader b/apps/specular_estimation/src/SimpleTexture.fragmentshader
index 1ef59016fbaec2c780acc532b7fd07f6bbf7503c..3fc8623bef3fcb152f076eaf2100f2c0a8396d40 100644
--- a/apps/specular_estimation/src/SimpleTexture.fragmentshader
+++ b/apps/specular_estimation/src/SimpleTexture.fragmentshader
@@ -3,10 +3,10 @@
 // Ouput data
 layout(location = 0) out vec4 color;
 
-uniform sampler2D texture;
+uniform sampler2D myTexture;
 
 in vec2 UV;
 
 void main(){
-	color = texture(texture, UV);
+	color = texture(myTexture, UV);
 }
diff --git a/apps/specular_estimation/src/specular_estimation.cc b/apps/specular_estimation/src/specular_estimation.cc
index 7d4577dc8f4c3454dafbe0336d2b01e28a9467e0..ee46fcfd4fa7aa02d11e9af6cc7f0f38b5715e46 100644
--- a/apps/specular_estimation/src/specular_estimation.cc
+++ b/apps/specular_estimation/src/specular_estimation.cc
@@ -45,11 +45,10 @@ int main(int argc, char** argv) {
 
 	// Define the paths for the model images, calibration images and the albedo texture
 	const std::string folder		  = "2017-12-04";
-	const std::string modelPath       = "/home/thomas/Documents/" + folder + "/" + imageName   + "/" + imageName   + ".";
-	const std::string calibrationPath = "/home/thomas/Documents/" + folder + "/" + calibration + "/" + calibration + ".";
+	const std::string modelPath       = "/media/tw00275/ESD-USB/" + folder + "/" + imageName   + "/" + imageName   + ".";
+	const std::string calibrationPath = "/media/tw00275/ESD-USB/" + folder + "/" + calibration + "/" + calibration + ".";
 	const std::string texturePath     = modelPath + "texture.png";
 
-
 	// A vector of Mats allow multiple images to be allocated to the same object
 	// textureImages are the full colour photographs that are used to create the texture
 	// modelImages are the greyscale version of textureImages which are used to calculate the surface normals
@@ -90,10 +89,7 @@ int main(int argc, char** argv) {
 
 	
 
-	glm::vec3 position, lightInvDir;
-	glm::mat4 depthProjectionMatrix, depthViewMatrix;
-	float horizontalAngle, verticalAngle, FoV;
-	GLuint programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, SpecularIntensityID, SpecularPowerID;
+	
 	std::vector<unsigned int> indices;
 	cv::Vec3d residual;
 	std::vector< cv::Vec3d > residuals;
@@ -102,12 +98,17 @@ int main(int argc, char** argv) {
 	double totalResidual, SpecularIntensity = 0.5d, SpecularPower = 2.0d, residualValue;
 	cv::Mat residualImage;
 
-	initialiseOpenGL(heightMap, normalMap, texture, textureImages, lightDirections, width, height, depthProjectionMatrix, depthViewMatrix, position, horizontalAngle, verticalAngle, FoV, lightInvDir, programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower);
+	OpenGL Renderer = OpenGL(heightMap, normalMap, texture, textureImages, lightDirections, width, height, modelPath);
+	
+	//Renderer.renderPolygons(SpecularIntensity, SpecularPower);
+	Renderer.computeResiduals(residual, residuals, totalResidual, residualImage, calculateResidual, textureImages, lightNumber, numberOfLights, SpecularIntensity, SpecularPower, indices, modelPath);
+
+	//initialiseOpenGL(heightMap, normalMap, texture, textureImages, lightDirections, width, height, depthProjectionMatrix, depthViewMatrix, position, horizontalAngle, verticalAngle, FoV, lightInvDir, programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower);
 	//initialiseOpenGL(heightMap, normalMap, texture, textureImages, lightDirectionsPerspective, width, height, depthProjectionMatrix, depthViewMatrix, position, horizontalAngle, verticalAngle, FoV, lightInvDir, programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower);
 	//initialiseOpenGL(heightMap, normalMap, texture, charucoImages, lightDirectionsPerspective, width, height, depthProjectionMatrix, depthViewMatrix, position, horizontalAngle, verticalAngle, FoV, lightInvDir, programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower);
 
 	
-	specularMinimisation(SpecularIntensity, SpecularPower, residualValue, residual, residuals, totalResidual, residualImage, calculateResidual, depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath);
+	//specularMinimisation(SpecularIntensity, SpecularPower, residualValue, residual, residuals, totalResidual, residualImage, calculateResidual, depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath);
 
 	/*
 	// The variable to solve for with its initial value. It will be mutated in place by the solver.
@@ -131,9 +132,9 @@ int main(int argc, char** argv) {
 	std::cout << "Specular Intensity: " << initial_x << " -> " << x << "\n";
 	*/
 	
-	viewModel(residual, residuals, totalResidual, residualImage, calculateResidual, depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath);
+	//viewModel(residual, residuals, totalResidual, residualImage, calculateResidual, depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath);
 	
-	terminateOpenGL(vertexbuffer, uvbuffer, normalbuffer, elementbuffer, programID, depthProgramID, quad_programID, Texture, FramebufferName, depthTexture, quad_vertexbuffer, VertexArrayID);
+	//terminateOpenGL(vertexbuffer, uvbuffer, normalbuffer, elementbuffer, programID, depthProgramID, quad_programID, Texture, FramebufferName, depthTexture, quad_vertexbuffer, VertexArrayID);
 	
 	return 0;
 }
diff --git a/bin/specular_estimation b/bin/specular_estimation
index d72e59c5d994a6fe613c79e6e38e4551e581a57b..e51dc4de8f13ede3b14a11cea5def54c5b7b19f5 100755
Binary files a/bin/specular_estimation and b/bin/specular_estimation differ