diff --git a/include/basalt/optical_flow/frame_to_frame_optical_flow.h b/include/basalt/optical_flow/frame_to_frame_optical_flow.h
index 9fd0814..530c645 100644
--- a/include/basalt/optical_flow/frame_to_frame_optical_flow.h
+++ b/include/basalt/optical_flow/frame_to_frame_optical_flow.h
@@ -116,7 +116,7 @@ class FrameToFrameOpticalFlow : public OpticalFlowBase {
       transforms->observations.resize(calib.intrinsics.size());
       transforms->t_ns = t_ns;
 
-      pyramid.reset(new std::vector<basalt::ManagedImagePyr<u_int16_t>>);
+      pyramid.reset(new std::vector<basalt::ManagedImagePyr<uint16_t>>);
       pyramid->resize(calib.intrinsics.size());
 
       tbb::parallel_for(tbb::blocked_range<size_t>(0, calib.intrinsics.size()),
@@ -138,7 +138,7 @@ class FrameToFrameOpticalFlow : public OpticalFlowBase {
 
       old_pyramid = pyramid;
 
-      pyramid.reset(new std::vector<basalt::ManagedImagePyr<u_int16_t>>);
+      pyramid.reset(new std::vector<basalt::ManagedImagePyr<uint16_t>>);
       pyramid->resize(calib.intrinsics.size());
       tbb::parallel_for(tbb::blocked_range<size_t>(0, calib.intrinsics.size()),
                         [&](const tbb::blocked_range<size_t>& r) {
@@ -174,8 +174,8 @@ class FrameToFrameOpticalFlow : public OpticalFlowBase {
     frame_counter++;
   }
 
-  void trackPoints(const basalt::ManagedImagePyr<u_int16_t>& pyr_1,
-                   const basalt::ManagedImagePyr<u_int16_t>& pyr_2,
+  void trackPoints(const basalt::ManagedImagePyr<uint16_t>& pyr_1,
+                   const basalt::ManagedImagePyr<uint16_t>& pyr_2,
                    const Eigen::aligned_map<KeypointId, Eigen::AffineCompact2f>&
                        transform_map_1,
                    Eigen::aligned_map<KeypointId, Eigen::AffineCompact2f>&
@@ -260,7 +260,7 @@ class FrameToFrameOpticalFlow : public OpticalFlowBase {
     return patch_valid;
   }
 
-  inline bool trackPointAtLevel(const Image<const u_int16_t>& img_2,
+  inline bool trackPointAtLevel(const Image<const uint16_t>& img_2,
                                 const PatchT& dp,
                                 Eigen::AffineCompact2f& transform) const {
     bool patch_valid = true;
@@ -381,7 +381,7 @@ class FrameToFrameOpticalFlow : public OpticalFlowBase {
   basalt::Calibration<Scalar> calib;
 
   OpticalFlowResult::Ptr transforms;
-  std::shared_ptr<std::vector<basalt::ManagedImagePyr<u_int16_t>>> old_pyramid,
+  std::shared_ptr<std::vector<basalt::ManagedImagePyr<uint16_t>>> old_pyramid,
       pyramid;
 
   Matrix4 E;
diff --git a/include/basalt/optical_flow/patch_optical_flow.h b/include/basalt/optical_flow/patch_optical_flow.h
index 51ead8b..c99516b 100644
--- a/include/basalt/optical_flow/patch_optical_flow.h
+++ b/include/basalt/optical_flow/patch_optical_flow.h
@@ -116,7 +116,7 @@ class PatchOpticalFlow : public OpticalFlowBase {
       transforms->observations.resize(calib.intrinsics.size());
       transforms->t_ns = t_ns;
 
-      pyramid.reset(new std::vector<basalt::ManagedImagePyr<u_int16_t>>);
+      pyramid.reset(new std::vector<basalt::ManagedImagePyr<uint16_t>>);
       pyramid->resize(calib.intrinsics.size());
       for (size_t i = 0; i < calib.intrinsics.size(); i++) {
         pyramid->at(i).setFromImage(*new_img_vec->img_data[i].img,
@@ -133,7 +133,7 @@ class PatchOpticalFlow : public OpticalFlowBase {
 
       old_pyramid = pyramid;
 
-      pyramid.reset(new std::vector<basalt::ManagedImagePyr<u_int16_t>>);
+      pyramid.reset(new std::vector<basalt::ManagedImagePyr<uint16_t>>);
       pyramid->resize(calib.intrinsics.size());
       for (size_t i = 0; i < calib.intrinsics.size(); i++) {
         pyramid->at(i).setFromImage(*new_img_vec->img_data[i].img,
@@ -164,8 +164,8 @@ class PatchOpticalFlow : public OpticalFlowBase {
     frame_counter++;
   }
 
-  void trackPoints(const basalt::ManagedImagePyr<u_int16_t>& pyr_1,
-                   const basalt::ManagedImagePyr<u_int16_t>& pyr_2,
+  void trackPoints(const basalt::ManagedImagePyr<uint16_t>& pyr_1,
+                   const basalt::ManagedImagePyr<uint16_t>& pyr_2,
                    const Eigen::aligned_map<KeypointId, Eigen::AffineCompact2f>&
                        transform_map_1,
                    Eigen::aligned_map<KeypointId, Eigen::AffineCompact2f>&
@@ -246,7 +246,7 @@ class PatchOpticalFlow : public OpticalFlowBase {
     return patch_valid;
   }
 
-  inline bool trackPointAtLevel(const Image<const u_int16_t>& img_2,
+  inline bool trackPointAtLevel(const Image<const uint16_t>& img_2,
                                 const PatchT& dp,
                                 Eigen::AffineCompact2f& transform) const {
     bool patch_valid = true;
@@ -380,7 +380,7 @@ class PatchOpticalFlow : public OpticalFlowBase {
       patches;
 
   OpticalFlowResult::Ptr transforms;
-  std::shared_ptr<std::vector<basalt::ManagedImagePyr<u_int16_t>>> old_pyramid,
+  std::shared_ptr<std::vector<basalt::ManagedImagePyr<uint16_t>>> old_pyramid,
       pyramid;
 
   Eigen::Matrix4d E;
diff --git a/include/basalt/utils/vis_utils.h b/include/basalt/utils/vis_utils.h
index fe2db28..a43d7fd 100644
--- a/include/basalt/utils/vis_utils.h
+++ b/include/basalt/utils/vis_utils.h
@@ -40,13 +40,13 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <basalt/utils/sophus_utils.hpp>
 
-const u_int8_t cam_color[3]{250, 0, 26};
-const u_int8_t state_color[3]{250, 0, 26};
-const u_int8_t pose_color[3]{0, 50, 255};
-const u_int8_t gt_color[3]{0, 171, 47};
+const uint8_t cam_color[3]{250, 0, 26};
+const uint8_t state_color[3]{250, 0, 26};
+const uint8_t pose_color[3]{0, 50, 255};
+const uint8_t gt_color[3]{0, 171, 47};
 
 inline void render_camera(const Eigen::Matrix4d& T_w_c, float lineWidth,
-                          const u_int8_t* color, float sizeFactor) {
+                          const uint8_t* color, float sizeFactor) {
   const float sz = sizeFactor;
   const float width = 640, height = 480, fx = 500, fy = 500, cx = 320, cy = 240;