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refactoring Point, added point normal as member

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This commit is contained in:
Christian Forster
2014-04-03 10:08:18 +02:00
parent 0b0a9a51b0
commit a1e014c77c
8 changed files with 27 additions and 24 deletions
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svo/src/initialization.cpp
+1 -1
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@@ -84,7 +84,7 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
if(frame_ref_->cam_->isInFrame(px_cur.cast<int>(), 10) && frame_ref_->cam_->isInFrame(px_ref.cast<int>(), 10) && xyz_in_cur_[*it].z() > 0)
{
Vector3d pos = T_world_cur * (xyz_in_cur_[*it]*scale);
Point* new_point = new Point(pos, Point::TRIANGULATION);
Point* new_point = new Point(pos);
Feature* ftr_cur(new Feature(frame_cur.get(), new_point, px_cur, f_cur_[*it], 0));
frame_cur->addFeature(ftr_cur);