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normalized edglet dir

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Christian Forster
2014-04-30 22:29:41 +02:00
parent 8d3ed5078c
commit 6d592b3aa4
1 changed files with 1 additions and 0 deletions
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svo/src/reprojector.cpp
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@@ -190,6 +190,7 @@ bool Reprojector::reprojectCell(Cell& cell, FramePtr frame)
{ {
new_feature->type = Feature::EDGELET; new_feature->type = Feature::EDGELET;
new_feature->grad = matcher_.A_cur_ref_*matcher_.ref_ftr_->grad; new_feature->grad = matcher_.A_cur_ref_*matcher_.ref_ftr_->grad;
new_feature->grad.normalize();
} }
// If the keyframe is selected and we reproject the rest, we don't have to // If the keyframe is selected and we reproject the rest, we don't have to