diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt
index 6bd0db1..7433d71 100644
--- a/svo/CMakeLists.txt
+++ b/svo/CMakeLists.txt
@@ -57,7 +57,7 @@ FIND_PACKAGE(OpenCV REQUIRED)
 FIND_PACKAGE(Eigen REQUIRED)
 FIND_PACKAGE(Sophus REQUIRED)
 FIND_PACKAGE(fast REQUIRED)
-FIND_PACKAGE(Boost REQUIRED COMPONENTS system thread signals)
+FIND_PACKAGE(Boost REQUIRED COMPONENTS thread)
 
 # Describe catkin Project
 catkin_package(
diff --git a/svo/include/svo/point.h b/svo/include/svo/point.h
index 291f79f..9adb91d 100644
--- a/svo/include/svo/point.h
+++ b/svo/include/svo/point.h
@@ -45,7 +45,7 @@ public:
   static int                  point_counter_;           //!< Counts the number of created points. Used to set the unique id.
   int                         id_;                      //!< Unique ID of the point.
   Vector3d                    pos_;                     //!< 3d pos of the point in the world coordinate frame.
-  Vector3d                    normal_;                  //!< Normal of the point
+  Matrix3d                    R_w_p_;                   //!< Orientation of surface patch. Z-axis is the normal. Rotation from (p)oint frame to (w)orld frame.
   list<Feature*>              obs_;                     //!< References to keyframes which observe the point.
   size_t                      n_obs_;                   //!< Number of obervations: Keyframes AND successful reprojections in intermediate frames.
   g2oPoint*                   v_pt_;                    //!< Temporary pointer to the point-vertex in g2o during bundle adjustment.
diff --git a/svo/src/point.cpp b/svo/src/point.cpp
index c79053e..eadd88a 100644
--- a/svo/src/point.cpp
+++ b/svo/src/point.cpp
@@ -27,7 +27,6 @@ int Point::point_counter_ = 0;
 Point::Point(const Vector3d& pos) :
   id_(point_counter_++),
   pos_(pos),
-  normal_(Vector3d::Zero()),
   n_obs_(0),
   v_pt_(NULL),
   last_published_ts_(0),
@@ -41,7 +40,6 @@ Point::Point(const Vector3d& pos) :
 Point::Point(const Vector3d& pos, Feature* ftr) :
   id_(point_counter_++),
   pos_(pos),
-  normal_(Vector3d::Zero()),
   n_obs_(1),
   v_pt_(NULL),
   last_published_ts_(0),
diff --git a/svo_ros/CMakeLists.txt b/svo_ros/CMakeLists.txt
index a490881..cb1b286 100644
--- a/svo_ros/CMakeLists.txt
+++ b/svo_ros/CMakeLists.txt
@@ -33,7 +33,7 @@ FIND_PACKAGE(catkin REQUIRED COMPONENTS
 FIND_PACKAGE(OpenCV REQUIRED)
 FIND_PACKAGE(Eigen REQUIRED)
 FIND_PACKAGE(Sophus REQUIRED)
-FIND_PACKAGE(Boost REQUIRED COMPONENTS thread signals)
+FIND_PACKAGE(Boost REQUIRED COMPONENTS thread)
 
 # Describe catkin Project
 catkin_package(