removed unused dependency of boost signals and system

2014-05-11 22:10:12 +02:00
parent c66484560c
commit 8a2bef49f7
4 changed files with 3 additions and 5 deletions
@@ -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.